A compliant, underactuated hand for robust manipulation
Top Cited Papers
- 17 February 2014
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 33 (5), 736-752
- https://doi.org/10.1177/0278364913514466
Abstract
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of the iHY Hand, which was developed by choosing a set of target tasks around which the hand was optimized. Particular emphasis is placed on the development of underactuated fingers that are capable of both firm power grasps and low-stiffness fingertip grasps using only the compliant mechanics of the fingers. Experimental results demonstrate successful grasping of a wide range of target objects, the stability of fingertip grasping, and the ability to adjust the force exerted on grasped objects using high-impedance actuators and underactuated fingers.Keywords
This publication has 37 references indexed in Scilit:
- Kinetic and dimensional optimization for a tendon-driven gripperPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Mechanical design and performance specifications of anthropomorphic prosthetic hands: A reviewJournal of Rehabilitation Research and Development, 2013
- Selectively compliant underactuated hand for mobile manipulationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- The Robonaut 2 hand - designed to do work with toolsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Design and Control of the Laval Underactuated HandsPublished by Springer Science and Business Media LLC ,2007
- Mechanical design of a new pneumatically driven underactuated handProceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (cat. No.01ch37164), 2007
- Dexterous Grippers: Putting Nonholonomy to Work for Fine ManipulationThe International Journal of Robotics Research, 2002
- Robotic grasping and contact: a reviewPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- Graspar: a flexible, easily controllable robotic handIEEE Robotics & Automation Magazine, 1996
- Position control of manipulator with passive joints using dynamic couplingIEEE Transactions on Robotics and Automation, 1991