Related papers: Structured Pneumatic Fingerpads for Actively Tunab…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object…
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…
We study in detail the recent suggestions by Tshiprut et al. [Phys. Rev. Lett. 95, 016101 (2005)] to tune tribological properties at the nanoscale by subjecting a substrate to periodic mechanical oscillations. We show that both in…
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…
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…