© 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.
|Original language||English (US)|
|Title of host publication||2014 IEEE International Conference on Robotics and Automation (ICRA)|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||7|
|State||Published - May 2014|