A compliant underactuated hand with suction flow for underwater mobile manipulation

Handle URI:
http://hdl.handle.net/10754/597239
Title:
A compliant underactuated hand with suction flow for underwater mobile manipulation
Authors:
Stuart, Hannah S.; Wang, Shiquan; Gardineer, Bayard; Christensen, David L.; Aukes, Daniel M.; Cutkosky, Mark
Abstract:
© 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
Citation:
Stuart HS, Wang S, Gardineer B, Christensen DL, Aukes DM, et al. (2014) A compliant underactuated hand with suction flow for underwater mobile manipulation. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/icra.2014.6907847.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2014 IEEE International Conference on Robotics and Automation (ICRA)
Issue Date:
May-2014
DOI:
10.1109/icra.2014.6907847
Type:
Conference Paper
Sponsors:
This work has been supported by the KAUST Red SeaRobotics Research Exploratorium. H. Stuart and B. Gardineerare additionally supported by NSF graduate fellowships.The assistance of Eduardo Moreno, Oussama Khatib, TorstenKroeger, and Philip Mullins is gratefully acknowledged.
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorStuart, Hannah S.en
dc.contributor.authorWang, Shiquanen
dc.contributor.authorGardineer, Bayarden
dc.contributor.authorChristensen, David L.en
dc.contributor.authorAukes, Daniel M.en
dc.contributor.authorCutkosky, Marken
dc.date.accessioned2016-02-25T12:28:43Zen
dc.date.available2016-02-25T12:28:43Zen
dc.date.issued2014-05en
dc.identifier.citationStuart HS, Wang S, Gardineer B, Christensen DL, Aukes DM, et al. (2014) A compliant underactuated hand with suction flow for underwater mobile manipulation. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/icra.2014.6907847.en
dc.identifier.doi10.1109/icra.2014.6907847en
dc.identifier.urihttp://hdl.handle.net/10754/597239en
dc.description.abstract© 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.en
dc.description.sponsorshipThis work has been supported by the KAUST Red SeaRobotics Research Exploratorium. H. Stuart and B. Gardineerare additionally supported by NSF graduate fellowships.The assistance of Eduardo Moreno, Oussama Khatib, TorstenKroeger, and Philip Mullins is gratefully acknowledged.en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleA compliant underactuated hand with suction flow for underwater mobile manipulationen
dc.typeConference Paperen
dc.identifier.journal2014 IEEE International Conference on Robotics and Automation (ICRA)en
dc.contributor.institutionStanford University, Palo Alto, United Statesen
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