.... , 2016 , “ A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping ,” Int. J. Rob. Res. , 35 ( 1–3 ), pp. 161 – 185 . 10.1177/0278364915592961 [24] Li , C. S. , Gu , X. Y. , Xiao , X. , Zhu , G. N. , Prituja , A. V. , and Ren , H. L. , 2019...

...Alexander Titov; Matteo Russo; Marco Ceccarelli In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies...

...Wenda Xu; Yunfei Guo; Yujiong Liu; Pinhas Ben-Tzvi This paper presents the design, optimization, control, and experimental evaluation of a novel compact exoskeleton glove aiming to assist patients with brachial plexus injuries in grasping daily used objects. The finger mechanism is based on a rigid...

...Charles-Antoine Beaulieu; Tan-Sy Nguyen; Thierry Laliberté; Clément Gosselin A gripper design is adapted to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover...

... echanisms and R obotics . 13 05 2023 30 08 2023 30 08 2023 04 10 2023 cable-driven compliant mechanisms and robots grasping multi-finger hands mechanism design National Natural Science Foundation of China 10.13039/501100001809 No. 52075015 No. U1813221...

... mechanism, is presented to accomplish the above goals. A feedforward grasping force control method, based on the learned kinematics of the underactuated finger mechanism, is proposed to achieve sensor-less grasping force control. To enhance the grasping force control accuracy, a state-based actuating force...

... that the method can be implemented online for the control of the mechanism. Also, since the platform is reconfigurable, the introduced mechanisms can be used for grasping irregular objects. The motion of the mechanism is simulated for singularity avoidance and grasping. Contributed by the Mechanisms...

.... The LSEA-RG has the ability to adaptively grasp objects with different shapes and sizes by grasping force control. First, the mechanical design, including the transmission scheme, the finger mechanism, and the actuating mechanism is presented. Subsequently, the kinematic analysis is performed to explore...

...Zhongmou Li; Vincent Bégoc; Abdelhamid Chriette; Isabelle Fantoni This paper presents the wrench capability analysis, the controller design, and experimental results of an aerial robot flying gripper. This robot uses four quadrotors to actuate four fingers such as to grasp and manipulate large size...

...: mez188285@mech.iitd.ac.in Email: sudipto@mech.iitd.ac.in Contributed by Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 06 05 2021 30 08 2021 30 08 2021 20 09 2021 grasping fixturing If needed, humans...

.... Apart from deployability, a self-forcing mechanism, i.e., the holding force increases with load/object weight, facilitates the braided tube as a robotic gripper to grasp objects with different shapes, weights, and rigidities. First, taking a cylindrical object as an example, the self-forcing mechanism...

...Chih-Hsing Liu; Chen-Hua Chiu; Ta-Lun Chen; Tzu-Yang Pai; Mao-Cheng Hsu; Yang Chen This study presents a topology optimization method to synthesize an innovative compliant finger for grasping objects with size and shape variations. The design domain of the compliant finger is a trapezoidal area...

...Wissem Haouas; Redwan Dahmouche; Nadine Le Fort-Piat; Guillaume J. Laurent This paper presents a new parallel robot with an integrated gripper. The grasping capability of the robot is obtained by a foldable platform that can be fully controlled by actuators located on the base of the seven degrees...

...Guangbo Hao; Haiyang Li; Abhilash Nayak; Stephane Caro This paper presents the design of a multimode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt...

...Spencer B. Backus; Aaron M. Dollar Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints...

...Aimee Cloutier; James Yang An appropriate choice of contact forces for anthropomorphic robotic grasping devices is important for achieving a balanced grasp. Too little applied force may cause an object to slip or be dropped, and too much applied force may cause damage to delicate objects. Prior...

... link mechanism called a “microgripper.” The fingertip thus is a rigid/fluid hybrid system. The fluid fingertip is effective for grasping delicate objects, that is, it can decrease the impulsive force upon contact, and absorb uncertainties in object shapes and contact force. However, it can only apply...

.... The fabricated microgripper is glued and wire-bonded onto a printed circuit board. Before using the microgripper to do the grasp test, the force sensor of gripper needs to be calibrated carefully. The gripper prototype is fixed on an XYZ stage. For calibrating the force sensor, a microforce probe (model: FT...

... components joined together with series (equal force) or parallel (equal displacement) connections, the resulting multiport immittance (stiffness) matrix for the entire transmission can be used to deduce how the object will behave in the grasp. To illustrate this, a three-fingered gripper is presented...

...Bruno Belzile; Lionel Birglen The sense of touch has always been challenging to replicate in robotics, but it can provide critical information when grasping objects. Nowadays, tactile sensing in artificial hands is usually limited to using external sensors which are typically costly, sensitive...