A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation

doi:10.1109/tmech.2022.3195985

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	A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation
	W. P. Zhu; C. H. Lu; Q. L. Zheng; Z. G. Fang; H. C. Che; K. L. Tang; M. C. Zhu; S. C. Liu and Z. Wang
	2022
发表期刊	Ieee-Asme Transactions on Mechatronics
ISSN	1083-4435
页码	12
摘要	Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper with soft actuators enhanced by rigid constraints is receiving growing attention in soft gripper design. With rigid structural components actuated by soft actuators, they could achieve excellent grasping adaptability and payload while also being easy to model and control with conventional kinematics. However, existing works were mostly focused on achieving superior payload and perception with simple planar workspaces, resulting in far less dexterity compared with conventional grippers. In this work, we took inspiration from the human metacarpophalangeal (MCP) joint and proposed a new hybrid gripper design with eight independent muscles. It was shown that adding the MCP complexity was critical in enabling a range of novel features in the hybrid gripper, including in-hand manipulation, lateral passive compliance, as well as new control modes. A prototype gripper was fabricated and tested on our proprietary dual-arm robot platform with vision-guided grasping. With very lightweight pneumatic bellows soft actuators, the gripper could grasp objects over 20 times its weight with lateral compliance. Using the dual-arm platform, highly anthropomorphic dexterous manipulations were demonstrated using two hybrid grippers, from tug of war on a rigid rod to passing a soft towel between two grippers using in-hand manipulation. Matching the novel features and performance specifications of the proposed hybrid gripper, the underlying modeling, actuation, control, and experimental validation details were also presented, offering a promising approach to achieving enhanced dexterity, strength, and compliance in robotic grippers.
DOI	10.1109/tmech.2022.3195985
URL	查看原文
收录类别	sci ; ei
语种	英语
引用统计	被引频次：17[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67091
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	W. P. Zhu,C. H. Lu,Q. L. Zheng,et al. A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation[J]. Ieee-Asme Transactions on Mechatronics,2022:12.
APA	W. P. Zhu.,C. H. Lu.,Q. L. Zheng.,Z. G. Fang.,H. C. Che.,...&S. C. Liu and Z. Wang.(2022).A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation.Ieee-Asme Transactions on Mechatronics,12.
MLA	W. P. Zhu,et al."A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation".Ieee-Asme Transactions on Mechatronics (2022):12.

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