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- Title
Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers.
- Authors
Huang, Shuguang; Schimmels, Joseph M.
- Abstract
In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.
- Subjects
FINGERS; FINGER joint; COMPLIANT behavior; ROBOT hands
- Publication
Robotica, 2023, Vol 41, Issue 2, p587
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574722001448