TY - GEN
T1 - A Soft Gripper Driven by Bellow Actuators and Twist Actuators for Dexterous Grasping
AU - Li, Diancheng
AU - Zhou, Liangmin
AU - Zhu, Renjie
AU - Yin, Jintao
AU - Liu, Zhengbai
AU - Yuan, Han
AU - Wang, Hongqiang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.
AB - Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.
UR - https://www.scopus.com/pages/publications/85128206738
U2 - 10.1109/ROBIO54168.2021.9739548
DO - 10.1109/ROBIO54168.2021.9739548
M3 - 会议稿件
AN - SCOPUS:85128206738
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 962
EP - 967
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -