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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  
We present a family of shear-activated grippers that can grasp such objects without the need to squeeze.  ...  We present three grippers, the first two designed for curved objects, and the third for nearly any shape. Simple models describe the grasping process, and empirical results verify the models.  ...  A shear-activated gripper is able to grasp large, deformable or delicate objects without squeezing (Fig. 1) .  ... 
doi:10.1109/tro.2017.2776312 fatcat:g5s66fc4rneqdhyj7cjletvmqq

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 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.  ...  Finally, the gripper is implemented on a robotic arm and grasps a variety of convex objects (at rest and ballistic). 1 E.W. Hawkes is with the  ...  Because no active squeezing is required, the gripper can passively and dynamically grasp objects, i.e. it is able to catch thrown items without active control.  ... 
doi:10.1109/icra.2015.7139505 dblp:conf/icra/HawkesCHJC15 fatcat:765wlwrqgjamzdkgs5isun3wga

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  
We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system.  ...  This is enabled by (i) space-qualified gecko-inspired dry adhesives that are selectively turned on and off by the application of shear forces, (ii) a load-sharing system that scales small patches of these  ...  A functional diagram of the integrated space gripper is shown in Fig. 1G , and the computer-aided design (CAD) model and images of the gripper are shown in Fig. 2 .  ... 
doi:10.1126/scirobotics.aan4545 pmid:33157899 fatcat:i3rfhc3iuncq7psfltwkbpfmry

Aligning parts for micro assemblies

Mark Moll, Ken Goldberg, Michael A. Erdmann, Ron Fearing
2002 Assembly Automation  
First, there are several kinds of sticking effects due to Van der Waals forces and static electricity, which complicate hand-off motions and release of a part.  ...  We will show that a sequence of these two manipulation primitives can uniquely orient any asymmetric part while maintaining contact without sensing.  ...  In the mechanical design of an array of parallel jaw grippers one might be able to take advantage of this.  ... 
doi:10.1108/01445150210416673 fatcat:g3fdzkrdlzglrfliilh4nvsjca

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Deivamoney Josephine Selvarani Ruth, Jung-Woo Sohn, Kaliaperumal Dhanalakshmi, Seung-Bok Choi
2022 Sensors  
This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles.  ...  These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s22134860 pmid:35808360 pmcid:PMC9269604 fatcat:4hw4qb4mbnemtjjaevez6fq45e

Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors [article]

Achu Wilson, Shaoxiong Wang, Branden Romero, Edward Adelson
2020 arXiv   pre-print
Here we present the design of such a gripper.  ...  This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand.  ...  hand helps in achieving various grasp poses and may also be used for tasks like active tactile exploration, in hand manipulation etc.  ... 
arXiv:2002.02474v1 fatcat:lu724waxh5cplotzrsa2cylgcq

Electromechanical model of a conducting polymer transducer, application to a soft gripper

Chia-Ju Peng, Olivier Ameline, Frederic Ribeiro, Cedric Plesse, Sinan Haliyo, Shih-Jui Chen, Luc Chassagne, Barthelemy Cagneau
2019 IEEE Access  
Conducting interpenetrating polymer networks (C-IPN ) are a promising solution for the design of sensing and actuating parts at macro-or microscale.  ...  A sphere was lifted by the gripper, and the grasping force was successfully monitored by the sensing finger. This is a promising first step towards more complex 3D structures.  ...  MECHANICAL RESPONSE A mechanical model is used to estimate the force generated by the active finger of the gripper. The polymer is considered as an elastic rod without extension or shearing.  ... 
doi:10.1109/access.2019.2942159 fatcat:mfi7f3m3gfglppcj6p7myynaii

Reprogrammable soft actuation and shape-shifting via tensile jamming

Bilige Yang, Robert Baines, Dylan Shah, Sreekalyan Patiballa, Eugene Thomas, Madhusudhan Venkadesan, Rebecca Kramer-Bottiglio
2021 Science Advances  
Using the three grasp modes separately, the gripper was able to pick up a Rubik's cube, lift a bowl, and twist the cap off of a jar.  ...  The small discrepancies suggest that both models are useful in the design of variable trajectory actuators.  ...  For the gripper demonstration, three modules were attached to an acrylic plate, in a circular pattern (radius of 300 mm), at equal spacing (120°).  ... 
doi:10.1126/sciadv.abh2073 pmid:34597130 fatcat:3tltly3p6vbw3m2ghrxcm5zj2u

Active Clothing Material Perception using Tactile Sensing and Deep Learning [article]

Wenzhen Yuan, Yuchen Mo, Shaoxiong Wang, Edward Adelson
2018 arXiv   pre-print
The robot moves under the guidance of an external Kinect sensor, and squeezes the clothes with a GelSight tactile sensor, then it recognizes the 11 properties of the clothing according to the tactile data  ...  We collect a dataset of 153 varied pieces of clothes, and conduct 6616 robot exploring iterations on them.  ...  , and thank MIT Lincoln Lab and NTT Communication Sciences Laboratories.  ... 
arXiv:1711.00574v2 fatcat:rewzr7xn5zcnpldqjvwmvmpbge

Challenges and Outlook in Robotic Manipulation of Deformable Objects [article]

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan (+1 others)
2021 arXiv   pre-print
Addressing DOM challenges demand breakthroughs in almost all aspects of robotics, namely hardware design, sensing, (deformation) modeling, planning, and control.  ...  A particular focus of our paper lies in the discussions of these challenges and proposing future directions of research.  ...  A robotic framework designed to handle deformable objects usually consists of five key components: gripper and robot design, sensing, modeling, planning and control (See Fig. 2 ).  ... 
arXiv:2105.01767v2 fatcat:sap4adixnzf77gzsiy3q5tq5ni

A Review of Smart Materials for the Boost of Soft Actuators, Soft Sensors, and Robotics Applications

Yufei Hao, Shixin Zhang, Bin Fang, Fuchun Sun, Huaping Liu, Haiyuan Li
2022 Chinese Journal of Mechanical Engineering  
After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.  ...  The advantages and disadvantages of the actuators and sensors are compared based on the categories, and their potential applications in robotics are also presented.  ...  Without activation, the dielectric layer does not deform.  ... 
doi:10.1186/s10033-022-00707-2 doaj:967e12fdf64f492c9a78857e20919551 fatcat:6qvl3ivo4jfdzloli7hnrhdrxm

B:Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses

Melanie Florine Simons, Krishna Manaswi Digumarti, Nguyen Hao Le, Hsing-Yu Chen, Sara Correia Carreira, Nouf Zaghloul, Richard Suphapol Diteesawat, Martin Garrad, Andrew Conn, Christopher Kent, Jonathan Rossiter
2021 IEEE Robotics and Automation Letters  
It uses shape memory alloy (SMA) actuators integrated into an armband to gently squeeze the user's arm when pressure is sensed in novel electro-fluidic fingertip sensors and decoded through soft matter  ...  To address the lack of sensory feedback we present the B:Ionic glove, wearable over a robotic hand which contains sensing, computation and actuation on board.  ...  [17] , investigated squeezing pressure feedback that provided tangential and shear forces with the use of SMAs around the wrist and finger.  ... 
doi:10.1109/lra.2021.3064269 fatcat:xjcvpzc2wvfshbcbmx5wvfeukq

A compliant, underactuated hand for robust manipulation

Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert D. Howe, Aaron M. Dollar
2014 The international journal of robotics research  
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  ...  This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks.  ...  and insights on the design of the iHY Hand.  ... 
doi:10.1177/0278364913514466 fatcat:ptsu6xytzbcwbfaaolqf6mm56e

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Jung Sohn, Gi-Woo Kim, Seung-Bok Choi
2018 Applied Sciences  
Many different types of robots proposed to date, such as parallel planar robots, are investigated focusing on design configuration and operating principles.  ...  In this review article, recent research works on various robots, medical devices and rehabilitation mechanisms whose main functions are activated by smart materials are introduced and discussed.  ...  The three operational modes of an MRE are classified as shear, squeeze/elongation, and field-active modes.  ... 
doi:10.3390/app8101928 fatcat:vskxqfmzwfeyhawqfcvjcjus7m

Bio-Inspired Soft Grippers Based on Impactive Gripping

Liang Zhou, Lili Ren, You Chen, Shichao Niu, Zhiwu Han, Luquan Ren
2021 Advanced Science  
Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions.  ...  According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum  ...  arm without influencing the rest of it, which makes the movement of the gripper more flexible and controllable  ... 
doi:10.1002/advs.202002017 pmid:33977041 pmcid:PMC8097330 fatcat:ijmgj46bkza6nhc6dib5qgtryy
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