Soft-stable interface in grasping multiple objects by wiring-tension.

ABSTRACT: Efficiently manipulating objects in a group state poses an emerging challenge for soft robot hands. Overcoming this problem necessitates the development of hands with highly stable structures to bear heavy loads and highly compliant designs to universally adapt to various object geometries. This study introduces a novel platform for the development of robot hands aimed at manipulating multiple objects in each trial. In this setup, the objects come into soft contact with an elastic wire affixed to the finger skeletons. This combination results in a harmonious hybrid finger, inheriting both the soft, flexible properties of the wire and the robust stability provided by the finger skeleton. To facilitate this approach, a theoretical model was proposed to estimate the kinematics of manipulating

SUBMITTER: Nguyen PV 

PROVIDER: S-EPMC10700512 | biostudies-literature | 2023 Dec

REPOSITORIES: biostudies-literature