By Topic

Stable Precision Grasps by Underactuated Grippers

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Gert A. Kragten ; Department of BioMechanical Engineering, Delft University of Technology, Mekelweg 2, The Netherlands ; Mathieu Baril ; Clément Gosselin ; Just L. Herder

The ability of underactuated hands to grasp small objects is very limited, because the precision grasp is normally unstable. The goal of this paper is to achieve stable precision grasps by means of simple design modifications of the distal phalanges of the fingers. These modifications comprise the curving of the contact area of the distal phalanx, the application of a mechanical limit to prevent hyperextension of the distal phalanx, and the application of a compliant joint between the proximal and distal phalanges. A model is developed to calculate the limits of the finger dimensions in order to achieve stable precision grasps for different object sizes. An experimental setup is used to test the grasp stability and to verify the calculated results. It is concluded that stable precision grasps exist for the combination of concavely curved distal phalanges with a mechanical limit or with a compliant joint, if the limits to the finger dimensions are satisfied.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 6 )