A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism

This paper investigates the dynamical compliant grasping problem for a class of dexterous robotic hands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee the compliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.