Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation

Yuan, Shenli; Epps, Austin D.; Nowak, J.; Salisbury, J. Kenneth

doi:10.1109/icra40945.2020.9197146

Cited by 50 publications

(32 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is mainly based on the mechanism SARAH showed in second row of Table 8, and it allows abduction and adduction movements. A similar model is described in [56] where a 3 dofs grasper is developed with articulated active rollers at the fingertips, which provide steerable active surfaces. This allows unbounded rotation of a grasped object without the need for finger gaiting.…”

Section: Referencementioning

confidence: 99%

Advances in Finger and Partial Hand Prosthetic Mechanisms

et al. 2020

View full text Add to dashboard Cite

Approximately 70% of the upper extremity amputations refers to partial hand loss with the involvement of one or more fingers. Historically, this type of limb amputation has been addressed adopting simple opposition designs that use the movement of the residual digit for grasping against a fixed device. Nevertheless, in the last few years, technological advances, and the introduction of modern computer-aided tools for the synthesis and functional design of mechanisms have led to the development of smaller, more robust systems that are constantly improving body-powered and electrically-powered prototypes. This paper surveys cutting-edge solutions proposed in research or available on the market for single finger or partial hand prostheses. First, the main design requirements are outlined. Then, a wide number of prototypes are detailed underlying advantages and drawbacks. The overall goal is to create a solid starting point for the study and development of the next generation of prostheses that can be developed to advance the current state-of-the-art.

show abstract

Section: Referencementioning

confidence: 99%

Advances in Finger and Partial Hand Prosthetic Mechanisms

et al. 2020

View full text Add to dashboard Cite

show abstract

“…In contrast, customizing the robot embodiment to a particular task simplifies the computational burden of decision making, a phenomenon referred to as morphological computation in robot control [6]. For the task of grasping with different modes, robot hands with sophisticated mechanical mechanisms, such as passive compliance [7], [8], suction end-effectors [3], [9], and actuated rolling fingertips [10] have been carefully engineered to simplify grasp planning problems and improve performance. Though the data-driven approaches have given Fig.…”

Section: Introductionmentioning

confidence: 99%

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Pan

Garg

Anandkumar

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to morph and acquire new skills can facilitate an embodied agent to solve tasks of varying complexities. In this work, we introduce a data-driven approach where effective hand designs naturally emerge for the purpose of grasping diverse objects. Jointly optimizing morphology and control imposes computational challenges since it requires constant evaluation of a black-box function that measures the performance of a combination of embodiment and behavior. We develop a novel Bayesian Optimization algorithm that efficiently co-designs the morphology and grasping skills jointly through learned latentspace representations. We design the grasping tasks based on a taxonomy of three human grasp types: power grasp, pinch grasp, and lateral grasp. Through experimentation and comparative study, we demonstrate the effectiveness of our approach in discovering robust and cost-efficient hand morphologies for grasping novel objects. https://xinleipan.github.io/ emergent_morphology/ 1 NVIDIA,

show abstract

“… Kabaya and Kakikura (1998) developed a gripper with two active rollers that can grasp and pull-in a sheet-like object on a flat ground. Yuan et al, (2020) also proposed a gripper with two active rollers. Combined with a linkage mechanism, it can change the rollers’ orientation for within-hand manipulation.…”

Section: Introductionmentioning

confidence: 99%

Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects

Kakogawa

Kaizu

2021

Front. Robot. AI

View full text Add to dashboard Cite

This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. However, the object tends to fall when placing because it opens the finger before pushing out the object during the reversed movement. In addition, the closing speed and the picking-up speed of the fingers are slow due to the high reduction gear. To solve these drawbacks, a new pneumatic gripper by combining three valves, a speed control valve, a relief valve, and non-return valves, is proposed. The proposed pneumatic gripper is superior in the sense that it can perform pulling-up after grasping the object and opening the fingers after pushing-out the object. In the present paper, a design methodology of the different underactuated grippers that can not only grasp but also pull up objects is discussed. Then, to examine the performance of the grippers, experiments were conducted using various objects with different rigidity, shapes, size, and mass, which may be potentially available in real applications.

show abstract

Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation

Cited by 50 publications

References 23 publications

Advances in Finger and Partial Hand Prosthetic Mechanisms

Advances in Finger and Partial Hand Prosthetic Mechanisms

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects

Contact Info

Product

Resources

About