A compliant underactuated hand with suction flow for underwater mobile manipulation

Hannah S. Stuart; Shiquan Wang; Bayard Gardineer; David L. Christensen; Daniel M. Aukes; Mark Cutkosky

doi:10.1109/ICRA.2014.6907847

A compliant underactuated hand with suction flow for underwater mobile manipulation

Hannah S. Stuart, Shiquan Wang, Bayard Gardineer, David L. Christensen, Daniel M. Aukes, Mark Cutkosky

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

35 Scopus citations

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)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6691-6697
Number of pages	7
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907847
State	Published - Sep 22 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	5/31/14 → 6/7/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2014.6907847

Cite this

Stuart, H. S., Wang, S., Gardineer, B., Christensen, D. L., Aukes, D. M., & Cutkosky, M. (2014). A compliant underactuated hand with suction flow for underwater mobile manipulation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6691-6697). [6907847] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907847

A compliant underactuated hand with suction flow for underwater mobile manipulation. / Stuart, Hannah S.; Wang, Shiquan; Gardineer, Bayard et al.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6691-6697 6907847 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stuart, HS, Wang, S, Gardineer, B, Christensen, DL, Aukes, DM & Cutkosky, M 2014, A compliant underactuated hand with suction flow for underwater mobile manipulation. in Proceedings - IEEE International Conference on Robotics and Automation., 6907847, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6691-6697, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907847

Stuart HS, Wang S, Gardineer B, Christensen DL, Aukes DM, Cutkosky M. A compliant underactuated hand with suction flow for underwater mobile manipulation. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 6691-6697. 6907847. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907847

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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.

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A compliant underactuated hand with suction flow for underwater mobile manipulation

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