A compliant underactuated hand with suction flow for underwater mobile manipulation
AuthorsStuart, Hannah S.
Christensen, David L.
Aukes, Daniel M.
Permanent link to this recordhttp://hdl.handle.net/10754/597239
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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.
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.
SponsorsThis 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.