@inproceedings{8a4431b86270450aa5b3d726cbd68979,
title = "Novel, compliant, synergistic interactions of multiple contacts for grasping",
abstract = "In this paper, we are solving two inverse design problems. We first determine the desired Cartesian stiffness matrix for each contact in a multi-contact grasp by solving an optimization problem. Secondly given the desired stiffness matrix, K, for each contact, we design a material to behave accordingly. The orientation for the material links, and the appropriate stiffness values for each link must be determined. We solve for the link stiffness values and for the link angles by setting up a robotics problem based on a similarity transformation using the well-known Jacobian. The joint angles in the Jacobian determine the link orientation, and the stiffness values determine the link parameters. We are also able to solve for redundant elements necessary to develop symmetric materials.",
keywords = "Compliant materials, Grasping, Jacobian, Stiffness matrices",
author = "Dhiraj Nahar and Thomas Sugar and Paul Fussell",
year = "2002",
month = dec,
day = "1",
language = "English (US)",
isbn = "1889335193",
series = "Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002",
pages = "237--242",
booktitle = "Robotics, Automation, Control and Manufacturing",
note = "9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 ; Conference date: 09-06-2002 Through 13-06-2002",
}