TY - GEN
T1 - Fabric-based soft grippers capable of selective distributed bending for assistance of daily living tasks
AU - Nguyen, Pham H.
AU - Sridar, Saivimal
AU - Amatya, Sunny
AU - Thalman, Carly M.
AU - Polygerinos, Panagiotis
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - This paper presents two designs of soft grippers able to mount on a Soft-Poly Limb to enable user assistance in manipulation tasks during activities of daily living. The grippers are composed of soft actuators made with high-strength inflatable fabrics, offering variable range of compliance, lightweight designs, and high strength-to-weight ratios. Their motion is achieved based on selective distributed bending, which allows joints to form along any point of the length of the grippers. In particular, the designs of an opposing multi-fingered gripper and a bio-inspired continuum gripper are explored. Furthermore, the introduction of a rotational wrist joint, which converts bending motion of a soft actuator array to rotational motion is utilized to control orientation of the aforementioned grippers. Through series of qualitative and quantitative evaluations the fabricated grippers are found capable of both high-strength pinch and power grasping enabling reliable manipulation of objects encountered in daily living tasks.
AB - This paper presents two designs of soft grippers able to mount on a Soft-Poly Limb to enable user assistance in manipulation tasks during activities of daily living. The grippers are composed of soft actuators made with high-strength inflatable fabrics, offering variable range of compliance, lightweight designs, and high strength-to-weight ratios. Their motion is achieved based on selective distributed bending, which allows joints to form along any point of the length of the grippers. In particular, the designs of an opposing multi-fingered gripper and a bio-inspired continuum gripper are explored. Furthermore, the introduction of a rotational wrist joint, which converts bending motion of a soft actuator array to rotational motion is utilized to control orientation of the aforementioned grippers. Through series of qualitative and quantitative evaluations the fabricated grippers are found capable of both high-strength pinch and power grasping enabling reliable manipulation of objects encountered in daily living tasks.
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U2 - 10.1109/ROBOSOFT.2019.8722758
DO - 10.1109/ROBOSOFT.2019.8722758
M3 - Conference contribution
AN - SCOPUS:85067118056
T3 - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
SP - 404
EP - 409
BT - RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Y2 - 14 April 2019 through 18 April 2019
ER -