Abstract | ||
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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 |
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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 Teng | 1 | 0 | 0.68 |
Guanghua Xu | 2 | 38 | 23.44 |
Renghao Liang | 3 | 1 | 1.72 |
Min Li | 4 | 30 | 8.71 |
Sicong Zhang | 5 | 3 | 1.05 |
Tangfei Tao | 6 | 24 | 5.99 |