2020
DOI: 10.1109/lra.2020.3015719
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The Mag-Gripper: A Soft-Rigid Gripper Augmented With an Electromagnet to Precisely Handle Clothes

Abstract: In this work we briefly present Mag-Gripper, a novel robotic gripper specifically designed for autonomous clothing manipulation. It is capable of improving the grasp repeatability and precision, compensating uncertainties in the desired grasping locations by exploiting a proper magnetic force. It is an augmented jaw gripper, equipped with an electromagnet capable of attracting small metal parts suitably placed on the garment to be grasped. Mag-Gripper can find applications either in Research labs investigating… Show more

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Cited by 12 publications
(8 citation statements)
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“… Magnetic-gripper end-effector: Th ey als o h av e an electromagnet and clamps; the electromagnet is actuated by a servomotor and then the clamps ensure the grip. the minimum time in which the terminal element makes its grip is 0.1s and 0.3s to release the object [9].…”
Section: Resultsmentioning
confidence: 99%
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“… Magnetic-gripper end-effector: Th ey als o h av e an electromagnet and clamps; the electromagnet is actuated by a servomotor and then the clamps ensure the grip. the minimum time in which the terminal element makes its grip is 0.1s and 0.3s to release the object [9].…”
Section: Resultsmentioning
confidence: 99%
“…The bellows suction cups especially designed for heterogeneous surfaces [3]. Another author was found who performed an increased softrigid clamp with an electromagnet to handle clothes precisely [9]. The applications of these tools facilitate industrial processes, and some could be used in different industrial sectors.…”
Section: Discussionmentioning
confidence: 99%
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“…In robotic grasping, magnets have been exploited to increase the force during adaptive pinch grasps [27], build tactile sensors for contact points location estimation [28], and devise a compliant, variable-stiffness gripper [29]. Recent works focus on food handling [30] and autonomous garment manipulation [31]. To the best of our knowledge, no works are focused on manipulation performed with soft robotic hands, exploiting the magnetic force for hand control and reconfiguration.…”
Section: A Related Workmentioning
confidence: 99%
“…Grippers handling garment parts should be differentiated from general robot grippers because of the unique characteristics of fabric materials, such as flexibility and air-permeability. Koustoumpardis and Aspragathos [25] classified the valid types of fabric handling grippers, and several studies have proposed several novel fabric-grippers, including an electrostatic gripper [6,[26][27][28]. On the other hand, when integrating the fabric gripping process with the cutting or sewing process for the garment manufacturing automation, it is very important to hold the fabric firmly and grip it without sagging and wrinkles.…”
Section: Adaptive Fabric Gripping Modulementioning
confidence: 99%