Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a lightweight, accessible solution integrating tactile sensing with a compliant linkage-based mechanism. This paper introduces OPENGRASP LITE, an open-source, highly integrated, tactile, and lightweight artificial hand. Leveraging compliant linkage systems and MEMS barometer-based tactile sensing, it offers versatile grasping capabilities with six degrees of actuation. By providing tactile sensors and enabling soft grasping, it serves as an accessible platform for further research in tactile artificial hands.
@article{arxiv.2408.02293,
title = {OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism},
author = {Sonja Groß and Michael Ratzel and Edgar Welte and Diego Hidalgo-Carvajal and Lingyun Chen and Edmundo Pozo Fortunić and Amartya Ganguly and Abdalla Swikir and Sami Haddadin},
journal= {arXiv preprint arXiv:2408.02293},
year = {2024}
}
Comments
Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 October 2024