An Adaptive Three-Fingered Prismatic Gripper With Passive Rotational Joints

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

“…Such soft robotic hands can be divided broadly into two types. The first type has softness at joints, e.g., snake-like gripper [6], FRH-4 hand [7], SDM hand [8][9], Pisa-IIT Hand [10][11], SoftHand Pro-D [12], ISR-SoftHand [13], UC-SoftHand [14], Velo Gripper [15], and adaptive prismatic gripper with passive rotational joints [16]. The second type has softness at surfaces, e.g., gel fingertips [17], ISR-SoftHand [13], UC-SoftHand [14], Kanazawa hand [18], deep reef sampling gripper [19], and magnetic fields based gripper [20].…”

“…A pioneering study of robot hand design that considers contact with the environment is the study of a gripper based on a remote center of compliance [36]. Contact with the environment was effectively utilized to realize grasping at the robotic hands possessing softness [16], [21], [22]. However (based on our knowledge), there is no study in which contact with the environment is intentionally utilized to modify the grasping mode and facilitate the realization of a versatile robotic hand.…”

Robotics: Science and Systems XIII

“…A more recent device based on a similar idea was presented by Carpenter et al [6] where translational rods connected by pneumatic struts produced an effect similar to a spring-loaded bed of pins. Recently, Backus and Dollar [1] proposed a variation of a previously developed finger design that is similarly intended to be attached to a three-jaw concentric industrial gripper, although in this case another supplementary actuator is still required to initiate the enveloping motion of the finger. Similarly, the author [2] presented a fully passive threephalanx self-adaptive mechanical finger capable of producing stable power (enveloping) and precision (pinch) grasps which ressembles the FinGripper but using rigid links.…”

Robotic perception and grasp in unstructured environments

“…By adopting the final geometric parameters (dimensions and tendon routes) obtained by the proposed method, as shown in Table 6-5, Table 6-6, Table 6-7 and Table 6-8 the gripper design is finalized for manufacturing and a prototype is fabricated accordingly, as shown in Figure 6 The assessment method previously proposed in [100] for a successful grasping is used in our grasping experiments. An object is put in the centre of the workspace.…”

“…Umetani [93] demonstrate the capabilities of an under-actuated tendon-driven robotic hand. The under-actuated mechanism has been utilized in most of robotic hands, such as RTR2 Hand [94], SDK hand [95], and Velo gripper [96], Willow Garage hand [97], robotic gripper with soft surfaces and underactuated joints [98], GR2 Gripper [99], the Model S hand [100], the DEXMART hand [101], the hand of the DLR Hand Arm System [102], tendon-driven index finger [103], Soft-touch gripper [104]. Some models are shown in Figure 2 Ou and Tsai [107] proposed a methodology of driving design equations regarding kinematic synthesis of tendon-driven manipulators based on isotropic transmission characteristics.…”