Related papers: A Novel Variable Stiffness Soft Robotic Gripper

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…

This study presents an innovative offset-trimmed helicoids (OTH) structure, featuring a tunable deformation center that emulates the flexibility of human fingers. This design significantly reduces the actuation force needed for larger…

Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…

Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…

This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…

This study proposes a novel robotic gripper driven by a single motor. The main task is to pick up objects in confined spaces. For this purpose, the developed gripper has three operating modes: grasping, finger-bending, and pull-in modes.…

Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…

Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…

For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…

Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…

This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…

Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…