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Soft Robotic Grippers

Jun Shintake, Vito Cacucciolo, Dario Floreano, Herbert Shea
2018 Advanced Materials  
Acknowledgements This work was supported in part by the Swiss National Centre of Competence in Research (NCCR) Robotics, the FLAG ERA RoboCom++ project, and the Hasler Foundation.  ...  [3] A compliant skin, like that of human hands, can improve the friction of tendon-driven grippers with objects for better handling.  ...  [67] demonstrated the grasping of a pencil and screws by a tendon-driven elastomeric manipulator inspired by the Octopus arm (Figure 4h) , which was later implemented in a robot capable of locomotion  ... 
doi:10.1002/adma.201707035 pmid:29736928 fatcat:ysjvdzllnneirolc6hmkxc5k2e

Self-Organized Behavior Generation for Musculoskeletal Robots

Ralf Der, Georg Martius
2017 Frontiers in Neurorobotics  
Specifically, an attached pendulum pilots the arm into a circular motion, a half-filled bottle produces axis oriented shaking behavior, a wheel is getting rotated, and wiping patterns emerge automatically  ...  The paper presents a self-learning neurocontroller based on extrinsic differential plasticity introduced recently, applying it to an anthropomorphic musculoskeletal robot arm with attached objects of unknown  ...  Special thanks go also to Rafael Hostettler for helping us with the robot and control framework.  ... 
doi:10.3389/fnbot.2017.00008 pmid:28360852 pmcid:PMC5352682 fatcat:asizufjnlvbmrlpqqp4a56mi4e

Soft Robotic Hands and Tactile Sensors for Underwater Robotics

Rafsan Al Shafatul Islam Subad, Liam B. Cross, Kihan Park
2021 Applied Mechanics  
In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in  ...  The emergence of coupling the newest technologies on submersibles, different types of telecommunication devices, sensors, and soft robots is transforming the rigid approach to robotic design by providing  ...  In [108] , Stuart et al. demonstrated a compliant, underactuated, tendon-driven hand (similar to Pisa/IIT Softhand).  ... 
doi:10.3390/applmech2020021 fatcat:kmctjxtvtfegtoknf2tfwiqmfu

James: A Humanoid Robot Acting over an Unstructured World

Lorenzo Jamone, Giorgio Metta, Francesco Nori, Giulio Sandini
2006 2006 6th IEEE-RAS International Conference on Humanoid Robots  
The robot is equipped with moving eyes, neck, arm and hand, and a rich set of sensors, enabling proprioceptive, kinesthetic, tactile and visual sensing.  ...  The recent trend of humanoid robotics research has been deeply influenced by concepts such as embodiment, embodied interaction and emergence.  ...  Moreover, it has been partially supported by NEUROBOTICS, a European FP6 project (IST-2003-511492).  ... 
doi:10.1109/ichr.2006.321376 dblp:conf/humanoids/JamoneMNS06 fatcat:imzf26npa5g3piag3kta4dheu4

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2019 4131-4138 Adaptive systems Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm.  ...  ., +, LRA Oct. 2019 4155-4162 Exo-Wrist: A Soft Tendon-Driven Wrist-Wearable Robot With Active Anchor for Dart-Throwing Motion in Hemiplegic Patients.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

The challenges ahead for bio-inspired 'soft' robotics

Rolf Pfeifer, Max Lungarella, Fumiya Iida
2012 Communications of the ACM  
Although a certain consensus on these principles is emerging in the robotics and related communities, the new field of bio-inspired soft robotics is still lacking a firm foundation like control theory  ...  Because such robots need to operate in environments built for humans, a reasonable morphology of choice is humanoid or anthropomorphic.  ... 
doi:10.1145/2366316.2366335 fatcat:lsbmgjwbyfeolkctdppazq5neu

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

Steffen Wittmeier, Cristiano Alessandro, Nenad Bascarevic, Konstantinos Dalamagkidis, David Devereux, Alan Diamond, Michael Jäntsch, Kosta Jovanovic, Rob Knight, Hugo Gravato Marques, Predrag Milosavljevic, Bhargav Mitra (+5 others)
2013 Artificial Life  
computation such as compliant, tendon-driven actuators and complex joint types.  ...  Development, Simulation, and Control of a Musculoskeletal Torso 172 Artificial Life Volume 19, Number 1 of the human body such as equivalents of compliant muscles, tendons, bones, and joints.  ...  For our robots, we used electromagnetic, tendon-driven actuators, usually incorporating a series elastic element in the tendons.  ... 
doi:10.1162/artl_a_00088 pmid:23186343 fatcat:6t4w4hng7zafndydxmq7lmluwi

A 3D-Printed Omni-Purpose Soft Gripper

Charbel Tawk, Andrew Gillett, Marc in het Panhuis, Geoffrey M. Spinks, Gursel Alici
2019 IEEE Transactions on robotics  
A bundle of 3-Dprintable linear soft vacuum actuators (LSOVA) that generate a linear stroke upon activation is employed to drive the tendon-driven soft fingers.  ...  A bundle of 3D printable linear soft vacuum actuators (LSOVA) that generate a linear stroke upon activation is employed to drive the tendon-driven soft fingers.  ...  The development of anthropomorphic endeffectors for robotic manipulation is largely based on human hand models [5] .  ... 
doi:10.1109/tro.2019.2924386 fatcat:w6ap7k5bdvbq5hzj77u2npfafu

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic [article]

Haihang Wang, He Xu, Chen Yang, Xin Li, Siqing Chen
2021 arXiv   pre-print
A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function.  ...  The soft robot hand is composed of a new kind of multi-freedom soft finger and soft palm, which realizes the characteristic grasping function of forehand and backhand.  ...  CONCLUSIONS A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function.  ... 
arXiv:2106.07011v1 fatcat:kdqam4vd3ncefolgtziw4hp7qq

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2

Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
2018 IEEE Transactions on robotics  
In recent years, a clear trend toward simplification emerged in the development of robotic hands.  ...  To overcome these limitations, we propose a novel design framework for tendon-driven mechanisms, in which the main idea is to turn transmission friction from a disturbance into a design tool.  ...  ACKNOWLEDGMENT The authors would like to thank A. Brando, A. Di Basco, M. Maimeri, A. Raugi, and G. Santaera for their valuable support in the development and validation of the prototype.  ... 
doi:10.1109/tro.2018.2830407 fatcat:nzxoqfgrajetjasidjqpvxxnqu

Test Bench for Evaluation of a Soft Robotic Link

Lisbeth Mena, Concepción A. Monje, Luis Nagua, Jorge Muñoz, Carlos Balaguer
2020 Frontiers in Robotics and AI  
In this paper we describe the control approaches tested in the improved version of an existing soft robotic neck with two Degrees Of Freedom (DOF), able to achieve flexion, extension, and lateral bending  ...  The design is based on a cable-driven mechanism consisting of a spring acting as a cervical spine and three servomotor actuated tendons that let the neck to reach all desired postures.  ...  from the RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, Fase IV; S2018/NMT-4331), funded by Programas de Actividades  ... 
doi:10.3389/frobt.2020.00027 pmid:33501196 pmcid:PMC7806112 fatcat:caa26mjqx5dnrh4kqazjkjhtma

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Attanasio, A., +, LRA Oct. 2020 6528-6535 Compliant Control and Compensation for A Compact Cable-Driven Robotic Manipulator.  ...  ., +, LRA July 2020 3783-3790 Elongation Compliant Control and Compensation for A Compact Cable-Driven Robotic Manipulator.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Mechatronic design of an integrated robotic hand

Morgan Quigley, Curt Salisbury, Andrew Y. Ng, J. Kenneth Salisbury
2014 The international journal of robotics research  
Finally, we present the results of experiments in which the robotic hand was affixed to a manipulator arm and teleoperated to grasp and manipulate a variety of objects.  ...  Furthermore, despite the large number of robotic hand designs that have been proposed in the past few decades, very few robot hands are available for purchase on the commercial market.  ...  Funding This work was funded in part by the DARPA Autonomous Robotic Manipulation (ARM) Program.  ... 
doi:10.1177/0278364913515032 fatcat:fzfrrse53bdw3jylbp3yl5nb2u

A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods

Yinlin Li, Peng Wang, Rui Li, Mo Tao, Zhiyong Liu, Hong Qiao
2022 Frontiers in Neurorobotics  
First, we investigate the structure and principle of hand-centered visual sensing, tactile sensing, and motor control and related behavioral results.  ...  Multifingered robotic hands (usually referred to as dexterous hands) are designed to achieve human-level or human-like manipulations for robots or as prostheses for the disabled.  ...  anthropomorphic design robotic hand Jacobsen et al. (1986) Utah/MIT Hand 4/16/38 Comparable to a human N/A N/A 1986 The first cable-driven robotic hand but with a huge hand cable driver Bridgwater et  ... 
doi:10.3389/fnbot.2022.843267 pmid:35574228 pmcid:PMC9097019 fatcat:o4w5y36ej5hzhpjm6tpv2x4vf4

Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand [chapter]

Arash Ajoudani
2015 Springer Tracts in Advanced Robotics  
This paper proposes a teleimpedance controller with tactile feedback for more intuitive control of the Pisa/IIT SoftHand.  ...  In addition, for intuitive control of the hand, two tactile interfaces are developed.  ...  ACKNOWLEDGMENTS This work is supported in part by the European Research Council under the Advanced Grant SoftHands "A Theory of Soft Synergies for a New Generation of Artificial Hands" no.  ... 
doi:10.1007/978-3-319-24205-7_8 fatcat:rtm63fo57ffa5mk5pwdzrljwte
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