TY - GEN
T1 - A compliant underactuated hand with suction flow for underwater mobile manipulation
AU - Stuart, Hannah S.
AU - Wang, Shiquan
AU - Gardineer, Bayard
AU - Christensen, David L.
AU - Aukes, Daniel M.
AU - Cutkosky, Mark
N1 - KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: This work has been supported by the KAUST Red SeaRobotics Research Exploratorium. H. Stuart and B. Gardineerare additionally supported by NSF graduate fellowships.The assistance of Eduardo Moreno, Oussama Khatib, TorstenKroeger, and Philip Mullins is gratefully acknowledged.
This publication acknowledges KAUST support, but has no KAUST affiliated authors.
PY - 2014/5
Y1 - 2014/5
N2 - © 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
AB - © 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
UR - http://hdl.handle.net/10754/597239
UR - https://ieeexplore.ieee.org/document/6907847/
UR - http://www.scopus.com/inward/record.url?scp=84929208966&partnerID=8YFLogxK
U2 - 10.1109/icra.2014.6907847
DO - 10.1109/icra.2014.6907847
M3 - Conference contribution
SN - 9781479936854
SP - 6691
EP - 6697
BT - 2014 IEEE International Conference on Robotics and Automation (ICRA)
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -