Selectively compliant underactuated hand for mobile manipulation

Daniel Aukes, Susan Kim, Pablo Garcia, Aaron Edsinger, Mark R. Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations

Abstract

The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Pages2824-2829
Number of pages6
DOIs
StatePublished - 2012
Externally publishedYes

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Aukes, D., Kim, S., Garcia, P., Edsinger, A., & Cutkosky, M. R. (2012). Selectively compliant underactuated hand for mobile manipulation. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2824-2829). [6224738] https://doi.org/10.1109/ICRA.2012.6224738