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

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 Aukes, Mark Cutkosky

Research output: Contribution to journal › Article › peer-review

27 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)
Article number	6907847
Pages (from-to)	6691-6697
Number of pages	7
Journal	Unknown Journal
DOIs	https://doi.org/10.1109/ICRA.2014.6907847
State	Published - Sep 22 2014
Externally published	Yes

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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AU - Christensen, David L.

AU - Aukes, Daniel

AU - Cutkosky, Mark

PY - 2014/9/22

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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

Abstract

ASJC Scopus subject areas

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