Abstract
Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
| Original language | English (US) |
|---|---|
| Article number | 6907847 |
| Pages (from-to) | 6691-6697 |
| Number of pages | 7 |
| Journal | Unknown Journal |
| DOIs | |
| State | Published - Sep 22 2014 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
A compliant underactuated hand with suction flow for underwater mobile manipulation. / Stuart, Hannah S.; Wang, Shiquan; Gardineer, Bayard; Christensen, David L.; Aukes, Daniel; Cutkosky, Mark.
In: Unknown Journal, 22.09.2014, p. 6691-6697.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A compliant underactuated hand with suction flow for underwater mobile manipulation
AU - Stuart, Hannah S.
AU - Wang, Shiquan
AU - Gardineer, Bayard
AU - Christensen, David L.
AU - Aukes, Daniel
AU - Cutkosky, Mark
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
AB - Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
UR - http://www.scopus.com/inward/record.url?scp=84929208966&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929208966&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907847
DO - 10.1109/ICRA.2014.6907847
M3 - Article
AN - SCOPUS:84929208966
SP - 6691
EP - 6697
JO - Scanning Electron Microscopy
JF - Scanning Electron Microscopy
SN - 0586-5581
M1 - 6907847
ER -