A medium-complexity compliant end effector

Ulrich, Nathan; Paul, Rohan; Bajcsy, Růžena

doi:10.1109/robot.1988.12087

Cited by 46 publications

(31 citation statements)

References 3 publications

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“…As the robot hand system moves the contact switches/IR sensors will be monitored to determine the successful grasping. This method is relatively simpler than the hugging algorithm presented for a robot hand configured as Graspar which relies on dense contact sensing [5,13]. The total robot hand system has independent control of finger joints of each finger leading to flexible control of finger motion as compared to the three fingered grasper [23,24,25].…”

Section: Discussionmentioning

confidence: 99%

“…An unique grasping device is designed by the University of Pennsylvania, in that it has a stationary thumb and two rotating fingers that can either be positioned in line with the thumb for hook grasps or on the opposite side of the thumb for enclosing grasps [5]. The hand also uses a clutch mechanism to control the fingers during grasping of the objects.…”

Section: Fig1 Object Huntingmentioning

confidence: 99%

“…Examples for such robot hand are the Utah/MIT hand [1], the Salisbury hand [2], fivedigit hand at University of Belgrade [3,4], grasping device designed by the University of Pennsylvania [5]. In most cases, the fingers are actuated through antagonistic tendons routing to a motor for each finger joints.…”

Section: Introductionmentioning

confidence: 99%

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A Microcontroller Based Four Fingered Robotic Hand

Ramaiah¹,

Rao²,

Satyanarayana³

2011

IJAIA

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Section: Discussionmentioning

confidence: 99%

Section: Fig1 Object Huntingmentioning

confidence: 99%

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A Microcontroller Based Four Fingered Robotic Hand

Ramaiah¹,

Rao²,

Satyanarayana³

2011

IJAIA

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“…The motion plane of this last element is perpendicular to those defined by the first couple of fingers. This hand layout is useful for manipulating small objects or grasping elements that are placed in difficult positions [27]. The architecture is an alternative to the more popular arrangement of two fingers with parallel motion planes and one opposable thumb [28][29][30].…”

Section: B Example 2: 3-fingered Hand With Opposed Fingers and Opposmentioning

confidence: 99%

Characterization of the precision manipulation capabilities of robot hands via the continuous group of displacements

Rojas

Dollar

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In robot hands, precision manipulation, defined as repositioning of a grasped object within the hand workspace without breaking or changing contact, is a fundamental operation for the accomplishment of highly dexterous manipulation tasks. This paper presents a method to characterize the precision manipulation capabilities of a given robot hand regardless of the particularities of the grasped object. The technique allows determining the composition of the displacement manifold (finite motion) of the grasped object relative to the palm of the robot hand and defining the displacements that can actually be controlled by the hand actuators without depending on external factors to the hand. The approach is based on a reduction of the graph of kinematic constraints related to the hand-object system through proper manipulations of the continuous subgroups of displacements generated by the hand joints and contacts. The proposed method is demonstrated through three detailed and constructive examples of common architectures of simplified multi-fingered hands.

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“…In an effort to improve the capabilities of practical hands for experimentation, the authors have developed the iRobot-Harvard-Yale (iHY) hand in collaboration with iRobot Corporation and the Harvard BioRobotics Laboratory [1]. Aside from good grasping performance, which is present in a number of simplified or underactuated hands [2] [7], one key design goal of the iHY Hand was to enable dexterous, within-hand manipulation of grasped objects. In this paper, we demonstrate some of this functionality, and in particular present experimental results characterizing the space of object configurations that can be reached by varying the hand's flexor tendon excursion from an initial tripod grasp, and without the need for sensoryintensive feedback control.…”

Section: Introductionmentioning

confidence: 99%