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Dynamic surface grasping with directional adhesion

Elliot W. Hawkes, David L. Christensen, Eric V. Eason, Matthew A. Estrada, Matthew Heverly, Evan Hilgemann, Hao Jiang, Morgan T. Pope, Aaron Parness, Mark R. Cutkosky
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Dynamic surface grasping is applicable to landing of micro air vehicles (MAVs) and to grappling objects in space.  ...  Functional principles of dynamic surface grasping are presented, and two prototype grasper designs are discussed.  ...  This section generalizes the problem of dynamic surface grasping and describes several functional principles that must be embodied by a gripper using directional adhesives. A.  ... 
doi:10.1109/iros.2013.6697151 dblp:conf/iros/HawkesCEEHHJPPC13 fatcat:nstuxa67ench5gol4htwxaot64

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity

Hao Jiang, Elliot. W. Hawkes, Christine Fuller, Matthew A. Estrada, Srinivasan A. Suresh, Neil Abcouwer, Amy K. Han, Shiquan Wang, Christopher J. Ploch, Aaron Parness, Mark R. Cutkosky
2017 Science Robotics  
Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space.  ...  We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system.  ...  the y direction, and 8 N in the z direction on a flat glass surface.  ... 
doi:10.1126/scirobotics.aan4545 pmid:33157899 fatcat:i3rfhc3iuncq7psfltwkbpfmry

Grasping without squeezing: Shear adhesion gripper with fibrillar thin film

Elliot W. Hawkes, David L. Christensen, Amy Kyungwon Han, Hao Jiang, Mark R. Cutkosky
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We achieve shear grasping with a gripper that utilizes thin film gecko-inspired fibrillar adhesives that conform to the curvature of the object.  ...  We present a verified model for grasping a range of curvatures and results that demonstrate the thin film fibrillar adhesives' increased contact area on textured surfaces when loaded in shear.  ...  Further, when implemented with controllable fibrillar adhesives, the gripper can be functional on textured surfaces, can work in dynamic applications, and can easily release an object.  ... 
doi:10.1109/icra.2015.7139505 dblp:conf/icra/HawkesCHJC15 fatcat:765wlwrqgjamzdkgs5isun3wga

Perching and vertical climbing: Design of a multimodal robot

Matthew A. Estrada, Elliot W. Hawkes, David L. Christensen, Mark R. Cutkosky
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
Merging these two modes of movement is achieved via a mechanism utilizing an opposed grip with directional adhesives.  ...  We present a robot capable of both (1) dynamically perching onto smooth, flat surfaces from a ballistic trajectory and (2) successfully transitioning to a climbing gait.  ...  Interfacing with Dynamic Grasping Feet The dynamic grasping feet are capable of engaging during impact and maintaining adhesion despite rebound forces.  ... 
doi:10.1109/icra.2014.6907472 dblp:conf/icra/EstradaHCC14 fatcat:c7ujr4gixjg5hacva4tv5knj5m

Viko 2.0: A Hierarchical Gecko-inspired Adhesive Gripper with Visuotactile Sensor [article]

Chohei Pang, Qicheng Wang, Kinwing Mak, Hongyu Yu, Michael Yu Wang
2022 arXiv   pre-print
The gripper is implemented on a robotic arm to demonstrate an adaptive grasping pose based on contact area, and grasps objects with a wide range of geometries and textures.  ...  Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force.  ...  EXPERIMENTS In practical applications, for gecko-inspired adhesives to have a firm grasp, adequate contact with the target surface is required.  ... 
arXiv:2204.10082v1 fatcat:23n4lpv2mzhgpfmsswvijpjvjm

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Yufei Hao, Yon Visell
2021 Frontiers in Robotics and AI  
In this perspective, we examine challenges associated with grasping via anthropomorphic grippers.  ...  Common to many non-anthropomorphic soft grippers are mechanisms for morphological deformation or adhesion that simplify the grasping of diverse objects in different poses, without detailed knowledge of  ...  surfaces with which adhesion forces can be produced.  ... 
doi:10.3389/frobt.2021.632006 fatcat:vzwvfcudjfffpbyaev3mgu2euq

Friction, not texture, dictates grip forces used during object manipulation

G. Cadoret, A. M. Smith
1996 Journal of Neurophysiology  
When strong adhesives increased the friction of the smooth surface compared with textured surfaces, grip forces decreased as friction increased.  ...  The surfaces were left either untreated or coated with talc, water, or sucrose films designed to change the coefficient of friction with the skin.  ...  With repeated grasping, the sweat accumulating on the skin increased adhesion to the grasped surface, which was accompanied by a commensurate decrease in grip force.  ... 
doi:10.1152/jn.1996.75.5.1963 pmid:8734595 fatcat:32bxr2lq7nclxe6qhntupzhjta

Velvet fingers: A dexterous gripper with active surfaces

Vinicio Tincani, Manuel G. Catalano, Edoardo Farnioli, Manolo Garabini, Giorgio Grioli, Gualtiero Fantoni, Antonio Bicchi
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The design of grasping and manipulation systems is one of the most investigated topics in recent robotic and automation engineering.  ...  To obtain this enhancement, the proposed gripper considers the possibility offered by active surfaces, i.e. engineered contact surfaces able to simulate different levels of friction and to apply tangential  ...  pads which can move with one degree of freedom so as to simulate the effect of variable adhesion in one direction.  ... 
doi:10.1109/iros.2012.6385939 dblp:conf/iros/TincaniCFGGFB12 fatcat:bkl4r2ikdnfz7kulxyphy5y43q

Neuronal Activity in Somatosensory Cortex of Monkeys Using a Precision Grip. III. Responses to Altered Friction Perturbations

Iran Salimi, Thomas Brochier, Allan M. Smith
1999 Journal of Neurophysiology  
In the first group (group A), the peak discharge increased significantly when the grasped surface was covered with lubricant.  ...  The second group (group B) was less activated by the adhesive surface compared with either the untreated metal or the lubricated surface, and they responded mainly to variations in the force normal to  ...  The present study sought to examine the responses of neurons of the somatosensory cortex to grasping lubricated or adhesive surfaces.  ... 
doi:10.1152/jn.1999.81.2.845 pmid:10036285 fatcat:uizy3xpkrzae5l3k22ip2h5s34

Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot [article]

A. Cauligi, T. Chen, S. A. Suresh, M. Dille, R. Garcia Ruiz, A. Mora Vargas, M. Pavone, M. Cutkosky
2020 arXiv   pre-print
Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications.  ...  In this work, we present the design of a gecko-inspired adhesive gripper for performing perching and grasping maneuvers for the Astrobee robot, a free-flying robot currently operating on-board the International  ...  This class of adhesives allows for rapid attachment and detachment with minimal interaction forces between the adhesion and grasped surface.  ... 
arXiv:2009.09151v1 fatcat:gghsgtnggvgqjit3cmp3rwbp7e

Implementation and control of the Velvet Fingers: A dexterous gripper with active surfaces

Vinicio Tincani, Giorgio Grioli, Manuel G. Catalano, Manolo Garabini, Simone Grechi, Gualtiero Fantoni, Antonio Bicchi
2013 2013 IEEE International Conference on Robotics and Automation  
Finally, the capabilities of the prototype are showed through preliminary grasps and manipulation experiments.  ...  This enhancement is obtained thanks to active surfaces, i.e. engineered contact surfaces able to emulate different levels of friction and to apply tangential thrusts to the contacted object.  ...  IV presents the system dynamics, along with the algorithms adopted to control both the active surface and the adaptive gripper. Sec.  ... 
doi:10.1109/icra.2013.6630955 dblp:conf/icra/TincaniGCGGFB13 fatcat:jarbz5xqubhuncfwxrhojvdqui

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Zhengyong Liu, Youdong Chen, Henan Song, Zhenming Xing, Hongmiao Tian, Xiaobiao Shan
2021 Sensors  
The kinematic and dynamic models of the robot are built based on the DH coordinate.  ...  It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly.  ...  This motivates a new interface suction method with strong adhesive capacity and no pollution to the surface [28, 29] .  ... 
doi:10.3390/s22010149 pmid:35009693 pmcid:PMC8747698 fatcat:6hlhojfv7zdw7bkv4yr363hprq

Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

Elliot Wright Hawkes, Hao Jiang, David L. Christensen, Amy K. Han, Mark R. Cutkosky
2018 IEEE Transactions on robotics  
Simple models describe the grasping process, and empirical results verify the models. The grippers are demonstrated on objects with a variety of shapes, materials, sizes, and weights.  ...  When a shear force is applied to the gecko-inspired material in our grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction force that depends on adhesion  ...  The answer to this question lies in an interesting property of the adhesive: dynamic adhesion [16] .  ... 
doi:10.1109/tro.2017.2776312 fatcat:g5s66fc4rneqdhyj7cjletvmqq

Friction behaviour between a laparoscopic grasper and the large intestine during minimally invasive surgery

Yan Guo, Chengmo Cai, Wei Li
2021 Biosurface and Biotribology  
A pulling angle of 15°could generate the peak frictional force and enhance the grasping stability. The frictional force increased with the ratio of the profile surface area of the grasper.  ...  These results demonstrate that the grasping stability can be improved by changing either the bio-surface liquid condition or the pulling angle.  ...  Keeping a certain angle of 15°between the width direction of the grasper and the traction direction can increase the frictional force and avoid slippage. (3) Compared with the grasper with Flat jaw, the  ... 
doi:10.1049/bsb2.12028 fatcat:cvyanu64rzgsbmpllheo3iovzq

New Adhesion Mechanism in Giardia: Role of the Ventrolateral Flange in the Attachment of Trophozoites

S. L. Erlandsen, A. P. Russo, J. N. Turner
2003 Microscopy and Microanalysis  
Because pillars spacing prevented "suction-like" attachment of the VAD, adhesion appeared to be mediated by interaction of the VLF with the pillar surface.  ...  This new mechanism of adhesion may provide new insights on transient interactions of trophozoites with the MVB. 1. S.L. Erlandsen and D.  ...  Because pillars spacing prevented "suction-like" attachment of the VAD, adhesion appeared to be mediated by interaction of the VLF with the pillar surface.  ... 
doi:10.1017/s1431927603440051 fatcat:64bardsu4bdqvoupevpvdjchfe
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