Varying spring preloads to select grasp strategies in an adaptive hand

Daniel Aukes; Barrett Heyneman; Vincent Duchaine; Mark R. Cutkosky

doi:10.1109/IROS.2011.6048839

Varying spring preloads to select grasp strategies in an adaptive hand

Daniel Aukes, Barrett Heyneman, Vincent Duchaine, Mark R. Cutkosky

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

24 Scopus citations

Abstract

We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.

Original language	English (US)
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	1373-1379
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2011.6048839
State	Published - 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: Sep 25 2011 → Sep 30 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	9/25/11 → 9/30/11

Keywords

kinematic design
parallel linkage
robotic hand
underactuation

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2011.6048839

Cite this

Aukes, D., Heyneman, B., Duchaine, V., & Cutkosky, M. R. (2011). Varying spring preloads to select grasp strategies in an adaptive hand. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1373-1379). Article 6048839 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048839

Varying spring preloads to select grasp strategies in an adaptive hand. / Aukes, Daniel; Heyneman, Barrett; Duchaine, Vincent et al.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1373-1379 6048839 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Aukes, D, Heyneman, B, Duchaine, V & Cutkosky, MR 2011, Varying spring preloads to select grasp strategies in an adaptive hand. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048839, IEEE International Conference on Intelligent Robots and Systems, pp. 1373-1379, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 9/25/11. https://doi.org/10.1109/IROS.2011.6048839

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abstract = "We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.",

keywords = "kinematic design, parallel linkage, robotic hand, underactuation",

author = "Daniel Aukes and Barrett Heyneman and Vincent Duchaine and Cutkosky, {Mark R.}",

note = "Funding Information: ACKNOWLEDGMENTS The authors wish to express their sincere thanks to the Japan Maritime Safety Agency and the Hydrographic Office of Korea for kindly supplying the tidal data. Thanks are extended to Mr. M. Okada of the Japan Meteorological Agency for his advice, and to Mrs. Cynthia Jones for her kind correction of their English. This study was partially supported by the Grant-in-Aid for Scientific Research from the Ministry of Education, Science and Culture.; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

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N1 - Funding Information: ACKNOWLEDGMENTS The authors wish to express their sincere thanks to the Japan Maritime Safety Agency and the Hydrographic Office of Korea for kindly supplying the tidal data. Thanks are extended to Mr. M. Okada of the Japan Meteorological Agency for his advice, and to Mrs. Cynthia Jones for her kind correction of their English. This study was partially supported by the Grant-in-Aid for Scientific Research from the Ministry of Education, Science and Culture.

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N2 - We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.

AB - We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.

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Varying spring preloads to select grasp strategies in an adaptive hand

Abstract

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Keywords

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