Universal multi-fingered hand: Soft gripper with jamming effect

Universal multi-fingered hand: Soft gripper with jamming effect
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通用多指手：具有干扰效果的软抓手

DOI：
10.1299/jsmermd.2016.2a2-04a6
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发表时间：
2016
期刊：
2016 International Conference on Advanced Robotics and Intelligent Systems (ARIS)
影响因子：
--
通讯作者：
Y. Aiyama
Y. Aiyama
中科院分区：
--
文献类型：
--
作者：
Tao;Y. Aiyama

文献摘要

被引文献

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本文提出了一种简单紧凑的通用双指手，具有柔软的指尖和卡波效果。为了抓握多种物体，开发了高自由度手指手、多爪器等。我们采用一个指尖的卡位效果装置，以适应各种物体形状。研制了一种带干扰效应装置的双指手，并与刚性指尖手进行了对比试验。
This paper presents a simple and compact universal two-fingered hand with soft finger-tips with jamming effect. To grasp several kinds of object, high-DoF fingered hand, multi-gripper device etc. has been developed. We adopt jamming effect device for a finger-tip to fit various object shape. We develop a two-fingered hand with jamming effect device and test it to compare with rigid finger-tip hand.