Related papers: Control and implementation of fluid-driven soft gr…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to…
Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and rigid precision. Achieving similar versatility in robotic…
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…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, free-floating objects do not have a fixed base to absorb the reaction forces caused by the interactions. Consequently, if the interaction…
This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…
Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
The field of bio-inspired soft grippers has emerged as a transformative area of research with profound implications for biomedical applications. This book chapter provides a comprehensive overview of the principles, developments,…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand,…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to building passively compliant hands that react appropriately…