SBIR Phase II: A Resilient and Underactuated Robotic Hand Capable of Both Power and Precision Grasping

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This Small Business Innovation Research Phase II project proposes a robotic hand based on a noveltorque-switching mechanism and patented miniature motor controllers. The mechanism actively channelsmotor torque along different transmission paths and enables dependant and independent (time-discreet)control of both finger joints in a robotic hand to perform both power and pinch grasps. There is a growingneed in industry for adaptable and flexible manufacturing capabilities in a dynamic environment. Industrygenerally uses single-axis grippers and end-effectors that are modified to pick up specific items in ahighly-controlled environment. This requires exchanging multiple customized and expensive grippers viatool-changers. This project?s goal is to produce a paradigm shift in the materials-handling industry byintroducing a highly flexible, affordable, and lightweight robotic gripper that can grasp and manipulateobjects of varying size, shape, and stiffness. The Phase-II project objectives are to design and develop aprototype 3-fingered gripper using a novel torque-switching mechanism, optimized motors, multiplefeedback sensors, and miniature control electronics, and to test and evaluate the prototype gripper in anindustrial setting. This program will result in a compact, lightweight, and affordable robotic hand capableof grasping and manipulating a large range of objects.The broader impact/commercial potential of this project addresses the shortcomings of gripper devicesavailable today which discourage the use of robotic systems, thereby undermining manufacturingproductivity. The proposed solution improves manufacturing competitiveness by enabling easier adoptionof robotic work cells in conventional markets such as light manufacturing and emerging markets such asthe food and beverage industry. The societal impact will be felt in the field of education where robotics isrecognized as a strategic motivator for children and young adults to enter into technical fields. Mostrobots are too large and dangerous to bring into a classroom. The proposed robotic hand will be veryportable, safe, and exciting for both educators and students. A significant increase in gripper dexterity will make it an even more attractive motivator in the classroom and other secondary educational programs andworkshops. A potential secondary application for this innovation is a more dexterous and lightweighthand prosthesis which could have a major societal impact. Finally, the ability to transmit torque throughdifferent paths in a miniature package and allow control of different functions with a single small actuatorenables lightweight yet versatile machines and could have impacts beyond the field of robotics.