Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution

Hirose, Tadaki; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros40897.2019.8968011

Cited by 8 publications

(7 citation statements)

References 14 publications

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“…The former can lay a theoretical foundation for the design of the soft gripper and the latter can further improve the performance of the soft grippers. 22N [6]12.3360.71N [7] 120N [14]; 5N [17] 1.79N [18]; 5.66 [19];…”

Section: Discussionmentioning

confidence: 99%

“…--Weight (g) 506 112 [4] 752 [7] 800 [6] 97 [14]; 10 [17]; 280 [15] 275 [19] 306 [20] 389 [24]; 389.69 [27] 460 [33]; 110 [38] 5 [34] Stiffness(N/mm) 0.708(290 kPa) ----0.155 [15] 2.454 [18] 0.2431 [19] 0.137 [24] 0.186(290 kPa) [10]; 0.0361(290 kPa) [11]; 0.25 [38] --Actuator [9]; 2 [11]; 3 [10] & [33]; 6 [38] 2 [34]…”

Section: Discussionunclassified

“…The under-actuated soft grippers driven by ''muscles'' have been seen in previous studies, for example, the wire-driven finger with a multi-joint skeleton 6,7 and the stiffness variable tendon-driven gripper fabricated by additive manufacturing technology. 8 These studies show that the grippers have good performance.…”

Section: Introductionmentioning

confidence: 99%

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A novel soft end effector with active palm and fingertips for robotic picking

Guo

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Designing a type of dexterous soft end effector is the premise to guarantee the working efficiency of a picking robot. For the practical needs of grasping flat objects on the table and unscrewing the bottle cap, we have refined the advantages of traditional soft grippers and designed a novel two-finger soft end effector with active palm and also with two active fingertips. The bending of the fingers actuated by vacuum, the palm and fingertips are driven by motors. Three grasping strategies are developed for the active fingertips so that the gripper can not only grasp flat objects on the tabletop, but also unscrew a cap of a bottle. Further, benefit from the active palm and the high stiffness design method of the finger skeleton, two working modes, pinching mode and grasping mode, have been developed for the gripper. The end effector achieves a maximum grasping force of 32 N in the horizontal direction and 28 N in the vertical direction under the air pressure of −90 kPa. The working angle of the fingers is 0 °–120 °. The size of the object can be grasped ranges from 0 to 200 mm in diameter. Performance verification experiment shows that the active fingertips play an important role in helping the gripper grasp thin objects such as credit cards and printing papers. Grasping experiments on different objects demonstrate that the active fingertips design significantly enhances the flexibility of the gripper and the application it can empower the manipulator.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionunclassified

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A novel soft end effector with active palm and fingertips for robotic picking

Guo

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Soft robots inspired by animals are advantageous for carrying out various activities such as climbing on curvilinear, flat or vertical surfaces [104] or walking on the seabed inside a fluid [103]. Others are developed to grasp objects [107,108], including very thin and flexible ones [109]. Most of these robots use soft materials for actuation.…”

Section: Soft Materials In Robotic Feetmentioning

confidence: 99%

“…With the use of soft materials, it could be possible to distribute the contact pressure [107]. Robotic feet could be covered with soft skin, which deforms according to the movement of the structure.…”

Section: Soft Materials In Robotic Feetmentioning

confidence: 99%

Humanoids’ Feet: State-of-the-Art & Future Directions

Frizza

Ayusawa²,

Cherubini

et al. 2022

Int. J. Human. Robot.

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Robotic feet play a fundamental role in the walking performance of a biped robot. Feet are essential to maintain dynamic stability and to propel the body during walking. They may ensure stability on uneven terrains. Yet, complex feet are seldom used on humanoids. This paper surveys 36 types of robotic feet we found in the literature. We classified them according to strategy, capabilities, structure, number of degrees of freedom, actuation method of ankle and foot, type of actuator, sensorization and type of control. Subsequently, we analyzed the dynamic and static models of flexible feet. We discussed considerations on foot dynamics or kinematics in the robot’s whole body control system. We analyzed both active joints control for feet including actuated joints, and control for feet with elastic elements (for example, a rubber layer in the sole). Finally, we present some limitations of robotic feet and possible future developments.

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Development of a Three-Fingered Multi-Modality Dexterous Hand with Integrated Embedded High-Dimensional Sensors

Chen

Shuang

et al. 2023

J Intell Robot Syst

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Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution

Cited by 8 publications

References 14 publications

A novel soft end effector with active palm and fingertips for robotic picking

A novel soft end effector with active palm and fingertips for robotic picking

Humanoids’ Feet: State-of-the-Art & Future Directions

Development of a Three-Fingered Multi-Modality Dexterous Hand with Integrated Embedded High-Dimensional Sensors

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