Title
A Novel Underactuated Robotic Finger With Variable Stiffness Joints
Abstract
Existing robotic hands mostly consist of rigid finger mechanism with constant joint stiffness, leading to poor handling performance and even unexpected safety issues. This paper proposed a novel underactuated robotic finger with variable stiffness joints based on human finger anatomy and electrostatic adhesion(ESA) principle. The proposed finger is unique in the 3D printable one-piece body structure consisting of three similar joints, actuated by only one linear actuator to mimic the flexion/extension movement of the human finger. It is characterized by simple actuation, light weight, low cost and compliant grasp. We constructed a portable finger prototype to investigate the variable stiffness performance. It turns out that the joint stiffness shows a growing trend as the applied voltage increases, which verifies the effectiveness of this design. The proposed novel finger indicates potential applications in service robots and prosthetic hands.
Year
DOI
Venue
2019
10.1109/EMBC.2019.8857405
2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)
Field
DocType
Volume
Robotic finger,Joint stiffness,Computer vision,Linear actuator,GRASP,Stiffness,Computer science,Control theory,Artificial intelligence,Underactuation,Stiffness joints,Robot
Conference
2019
ISSN
Citations 
PageRank 
1557-170X
0
0.34
References 
Authors
0
6
Name
Order
Citations
PageRank
Zhicheng Teng100.68
Guanghua Xu23823.44
Renghao Liang311.72
Min Li4308.71
Sicong Zhang531.05
Tangfei Tao6245.99