TY - GEN
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 M.
AU - Cutkosky, Mark
N1 - Publisher Copyright:
© 2014 IEEE.
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
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U2 - 10.1109/ICRA.2014.6907847
DO - 10.1109/ICRA.2014.6907847
M3 - Conference contribution
AN - SCOPUS:84929208966
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6691
EP - 6697
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -