TY - JOUR
T1 - Pinch grasp and suction for delicate object manipulations using modular anthropomorphic robotic gripper with soft layer enhancements
AU - Vedhagiri, Godwin Ponraj Joseph
AU - Prituja, Avataram Venkatavaradan
AU - Li, Changsheng
AU - Zhu, Guoniu
AU - Thakor, Nitish V.
AU - Ren, Hongliang
N1 - Funding Information:
Author Contributions: Conceptualization, H.R. and G.P.J.V.; methodology, H.R., G.P.J.V., A.V.P. and G.Z.; software, G.Z.; data curation, G.P.J.V. and A.V.P.; validation, G.P.J.V., C.L and A.V.P.; investigation, G.P.J.V.; resources, H.R.; visualization, G.P.J.V.; writing—original draft preparation, G.P.J.V.; writing—review and editing, H.R.; supervision, H.R.; project administration, H.R.; funding acquisition, H.R., and N.V.T.” Funding: This work is supported by the Office of Naval Research Global under grant ONRG-NICOP-N62909-15-1-2029 and NUSRI China Jiangsu Provincial Grant BE2016077 awarded to Hongliang Ren.
Publisher Copyright:
© 2019 by the authors.
PY - 2019/9/1
Y1 - 2019/9/1
N2 - This paper is an extension of our previous work about a modular anthropomorphic robotic hand with soft enhancements focusing on simultaneous pinch grasp and suction-based object manipulations. The base structure is a tendon-driven robotic hand comprising five fingers and a palm. Each finger consists of two rigid links covered with soft enhancements. The soft enhancements are like the skin and tissues of the robotic hand. The tip of the finger is equipped with a suction module which can be actuated by regulating negative pressure to the soft layers. While our previous work dealt with the rationale behind and the structure of the modular design with kinematic analysis, this paper focuses on analyzing two specific capabilities of the gripper-pinch grasp and suction modality. Experiments validate that the proposed gripper together with the soft enhancement layers is capable of performing delicate single finger suction-based manipulation tasks and two-finger pinch grasp tasks.
AB - This paper is an extension of our previous work about a modular anthropomorphic robotic hand with soft enhancements focusing on simultaneous pinch grasp and suction-based object manipulations. The base structure is a tendon-driven robotic hand comprising five fingers and a palm. Each finger consists of two rigid links covered with soft enhancements. The soft enhancements are like the skin and tissues of the robotic hand. The tip of the finger is equipped with a suction module which can be actuated by regulating negative pressure to the soft layers. While our previous work dealt with the rationale behind and the structure of the modular design with kinematic analysis, this paper focuses on analyzing two specific capabilities of the gripper-pinch grasp and suction modality. Experiments validate that the proposed gripper together with the soft enhancement layers is capable of performing delicate single finger suction-based manipulation tasks and two-finger pinch grasp tasks.
KW - Anthropomorphic robotic hand
KW - Contact modulation
KW - Soft robot applications
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U2 - 10.3390/robotics8030067
DO - 10.3390/robotics8030067
M3 - Article
AN - SCOPUS:85072749917
SN - 2218-6581
VL - 8
JO - Robotics
JF - Robotics
IS - 3
M1 - 67
ER -