A compliant underactuated hand with suction flow for underwater mobile manipulation

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

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


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 languageEnglish (US)
Article number6907847
Pages (from-to)6691-6697
Number of pages7
JournalUnknown Journal
StatePublished - Sep 22 2014
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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