Abstract:The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging compliant PLA flexures. In particular, we focus on the fabrication of fingers printed as a single piece with tunable compliance, a multi degree of freedom thumb joint, and sensorized compliant fingertips. To address the challenge of control and actuation, we mo… Show more
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