Design and testing of a selectively compliant underactuated hand

Daniel Aukes, Barrett Heyneman, John Ulmen, Hannah Stuart, Mark R. Cutkosky, Susan Kim, Pablo Garcia, Aaron Edsinger

Research output: Contribution to journalArticle

64 Citations (Scopus)

Abstract

Motivated by the requirements of mobile manipulation, a compliant underactuated hand, capable of locking individual joints, has been developed. Locking is accomplished with electrostatic brakes in the joints and significantly increases the maximum pullout forces for power grasps. In addition, by locking and unlocking joints, the hand can adopt configurations and grasp sequences that would otherwise require a fully actuated solution. Other features of the hand include an integrated sensing suite that uses a common transduction technology on flexible printed circuits for tactile and proprioceptive sensing. The hand is analyzed using a three-dimensional rigid body analysis package with efficient simulation of compliant mechanisms and contacts with friction. This package allows one to evaluate design tradeoffs among link lengths, required tendon tensions, spring stiffnesses and braking requirements to grasp and hold a wide range of objects. Results of grasping and pullout tests confirm the utility of the simulations.

Original languageEnglish (US)
Pages (from-to)721-735
Number of pages15
JournalInternational Journal of Robotics Research
Volume33
Issue number5
DOIs
StatePublished - 2014
Externally publishedYes

Fingerprint

Compliant mechanisms
Printed circuits
Tendons
Locking
Braking
Brakes
Electrostatics
Stiffness
Friction
Testing
Sensing
Compliant Mechanism
Grasping
Requirements
Rigid Body
Manipulation
Simulation
Trade-offs
Contact
Three-dimensional

Keywords

  • design and control
  • grasping
  • manipulation
  • mechanics
  • Multifingered hands
  • underactuated robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Aukes, D., Heyneman, B., Ulmen, J., Stuart, H., Cutkosky, M. R., Kim, S., ... Edsinger, A. (2014). Design and testing of a selectively compliant underactuated hand. International Journal of Robotics Research, 33(5), 721-735. https://doi.org/10.1177/0278364913518997

Design and testing of a selectively compliant underactuated hand. / Aukes, Daniel; Heyneman, Barrett; Ulmen, John; Stuart, Hannah; Cutkosky, Mark R.; Kim, Susan; Garcia, Pablo; Edsinger, Aaron.

In: International Journal of Robotics Research, Vol. 33, No. 5, 2014, p. 721-735.

Research output: Contribution to journalArticle

Aukes, D, Heyneman, B, Ulmen, J, Stuart, H, Cutkosky, MR, Kim, S, Garcia, P & Edsinger, A 2014, 'Design and testing of a selectively compliant underactuated hand', International Journal of Robotics Research, vol. 33, no. 5, pp. 721-735. https://doi.org/10.1177/0278364913518997
Aukes, Daniel ; Heyneman, Barrett ; Ulmen, John ; Stuart, Hannah ; Cutkosky, Mark R. ; Kim, Susan ; Garcia, Pablo ; Edsinger, Aaron. / Design and testing of a selectively compliant underactuated hand. In: International Journal of Robotics Research. 2014 ; Vol. 33, No. 5. pp. 721-735.
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