ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and differential mechanism for versatile and delicate grasping

Mathew, Anup Teejo; Hussain, Irfan; Stefanini, Cesare; Hmida, Ikhlas Mohamed Ben; Renda, Federico

doi:10.1109/robosoft51838.2021.9479341

Cited by 14 publications

(3 citation statements)

References 27 publications

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“…As for most of the analyzed articulated grippers in Section IV-A, robotic palms can also be exploited to embed mechanisms for the reconfiguration of the fingers. Inspired by the design of the Barret Hand [50], Mathew et al [44] [Fig. 4(d)] and Shin et al [67] proposed three-fingered soft grippers in which two of the fingers can be reoriented symmetrically around the palm through a gear mechanism actuated by an electric motor.…”

Section: Table III Table Reporting the Analyzed Actuated Palms For So...mentioning

confidence: 99%

Actuated Palms for Soft Robotic Hands: Review and Perspectives

Pozzi,

Malvezzi,

Prattichizzo

et al. 2024

IEEE/ASME Trans. Mechatron.

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Section: Table III Table Reporting the Analyzed Actuated Palms For So...mentioning

confidence: 99%

Actuated Palms for Soft Robotic Hands: Review and Perspectives

Pozzi,

Malvezzi,

Prattichizzo

et al. 2024

IEEE/ASME Trans. Mechatron.

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“…The gripping system was electrically actuated and was based on a four-jaw/finger parallel open-close action, which ensures a larger area of contact between the parts and system. The ability to grip and manipulate a variety of objects has been the main point in the advancement of robots [2][3][4][5].…”

Section: New Robot Gripper Solutionmentioning

confidence: 99%

Research on Additive Technique Parameter Optimization for Robotic Gripper Construction

et al. 2023

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Designing an industrial robot gripper suitable for today’s industry is a challenging task due to the rapid evolution of products. Industrial robots are involved in machining, the transfer of parts, control and assembly, and the number of tasks performed by robots are increasing. Robots need to have the capability to adapt to new jobs consisting of new parts and new trajectories, and in most cases the preferred end effectors are grippers. In turn, grippers need to be flexible enough in order to cope with these changes. For this research, the authors propose a new gripper design which is capable of handling a large variety of parts with different sizes and shapes. In this research, an electrically actuated four-jaw gripper, with the capability of parallel movement of its jaws, is presented that also has the capability to fold the clamping jaws two by two and become a two-jaw gripper. Since the design is most suitable for additive manufacturing techniques, different additive techniques are analyzed for the manufacturing of the gripper. In the second part of the paper, different setups of the 3D printers are considered, such as infill percentage, raster angle and layer height. The main material on focus is a PET with grinded carbon-fiber reinforcement, but different materials are used for a better comparison of the rigidity of the system. This comparison is also presented in this article. The analysis of the material and 3D printing parameters are tested with Standard D638-14 probes used in a traction testing machine. After performing the traction test, the results are compared with FEA analysis. An optimal solution based on the experimental tests is proposed for the manufacture of the proposed gripper design.

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“…by retracting tendons embedded in the structure and anchored at specific points. [150] Soft actuators driven by a single tendon can achieve a single inward-bending motion [151][152][153] (Figures 9a-c), while some designs such as the PneuNets-like tendon-driven actuator [154,155] (Figure 9e), and the one-tendon soft actuator (Figure 9d) can also achieve shape conformity. [156] However, a variety of motions can be realized through mechanical design, including a four-bar mechanism with the parallelogram mechanism [157] (Figure 9j), multi-joint design, [21,158] and multiple tendons.…”

Section: Not Suitable For Flat Objectmentioning

confidence: 99%

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and differential mechanism for versatile and delicate grasping

Cited by 14 publications

References 27 publications

Actuated Palms for Soft Robotic Hands: Review and Perspectives

Actuated Palms for Soft Robotic Hands: Review and Perspectives

Research on Additive Technique Parameter Optimization for Robotic Gripper Construction

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

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