Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers. Issue 2 (10th October 2022)
- Record Type:
- Journal Article
- Title:
- Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers. Issue 2 (10th October 2022)
- Main Title:
- Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers
- Authors:
- Huang, Shuguang
Schimmels, Joseph M. - Abstract:
- Abstract: In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.
- Is Part Of:
- Robotica. Volume 41:Issue 2(2023)
- Journal:
- Robotica
- Issue:
- Volume 41:Issue 2(2023)
- Issue Display:
- Volume 41, Issue 2 (2023)
- Year:
- 2023
- Volume:
- 41
- Issue:
- 2
- Issue Sort Value:
- 2023-0041-0002-0000
- Page Start:
- 587
- Page End:
- 608
- Publication Date:
- 2022-10-10
- Subjects:
- compliance realization -- robotic hands -- grasp compliance
Robots -- Periodicals
629.89205 - Journal URLs:
- http://journals.cambridge.org/action/displayJournal?jid=ROB ↗
- DOI:
- 10.1017/S0263574722001448 ↗
- Languages:
- English
- ISSNs:
- 0263-5747
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library STI - ELD Digital store
- Ingest File:
- 26956.xml