Abstract
Soft fingers with omni-directional adaptability ex- cel in 3D twisting, outperforming two-dimensional self-adaptive hands using a finger rotation mechanism to achieve similar adaptability. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system’s active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger’s stiffness distribution and simplified models to assess the feasibility of lifting and reorienting a grasped object in a 3D twisting state. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.
Links
- https://iftomm-world.org/conferences/remar2024/#:~:text=Following%20successful%2[...]
- doi:10.1109/ReMAR61031.2024.10619925
BibTeX (Download)
@conference{Li2024ActiveSurface, title = {Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation}, author = {Sen Li and Fang Wan and Chaoyang Song}, url = {https://iftomm-world.org/conferences/remar2024/#:~:text=Following%20successful%20completion%20in%20London%20(2009),%20Tianjin%20(2012),%20Beijing}, doi = {10.1109/ReMAR61031.2024.10619925}, year = {2024}, date = {2024-06-23}, urldate = {2024-06-23}, booktitle = {IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024)}, address = {Chicago, USA}, abstract = {Soft fingers with omni-directional adaptability ex- cel in 3D twisting, outperforming two-dimensional self-adaptive hands using a finger rotation mechanism to achieve similar adaptability. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system’s active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger’s stiffness distribution and simplified models to assess the feasibility of lifting and reorienting a grasped object in a 3D twisting state. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.}, keywords = {Corresponding Author, ReMAR}, pubstate = {published}, tppubtype = {conference} }