Design of Low-Cost Soft Angle Exoskeleton Using Soft Actuators

Sonar, Kathan Rajesh; Reddy, S. Sai Sudeep; Schilberg, Daniel; Doss, Arockia Selvakumar Arockia

doi:10.1007/978-3-030-58675-1_37-1

Cited by 1 publication

(1 citation statement)

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“…Grasping is an important function for robots but for unstructured environments, diverse grasping seems essential to handle objects of various shapes and sizes. The human hand has been the most dexterous hand in sight and hence many researchers have conventionally imitated structure and grasping mode of human hand [1][2][3][4]. Belter and Dollar [5] have compared the general features of 5 commercial and 11 research hands such as type and the number of motors, degrees of freedom (DOFs), coupling methods with phalanges, range of motion of the joints, and the amount of forces applied in different grasp patterns.…”

Section: Introductionmentioning

confidence: 99%

Simulation study of underactuated hand for grasping quality

Abraham¹,

Doss²

2022

Robotics, Automation and Non-Destructive Evaluation

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Existing pioneer designs of robotic hands such as DLR, MIT hand etc., have high dexterity but are bulky, costly and require a complicated control system. Research into under-actuated counterparts has produced interesting results but require further investigations into the grasping performance for regular objects. There is scope for multiple studies concerning existing under-actuated mechanical finger designs through simulation and experiments to ensure motion coherence, grasping stability and evaluating grasp quality. An under-actuated robotic gripper for a 3 finger, 6-DOF gripper is modelled to obtain a valid grasp hand configuration. Analysis of the under-actuated grasp system to obtain solution to linearized grasp system. Also, determination of values of several grasp quality metrics for the given configuration is undertaken.

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