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Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft struc...

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Autores principales: Nguyen, Van Pho, Dhyan, Sunil Bohra, Han, Boon Siew, Chow, Wai Tuck
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10383294/
https://www.ncbi.nlm.nih.gov/pubmed/37512781
http://dx.doi.org/10.3390/mi14071471
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author Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
author_facet Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
author_sort Nguyen, Van Pho
collection PubMed
description Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.
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spelling pubmed-103832942023-07-30 Universally Grasping Objects with Granular—Tendon Finger: Principle and Design Nguyen, Van Pho Dhyan, Sunil Bohra Han, Boon Siew Chow, Wai Tuck Micromachines (Basel) Article Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics. MDPI 2023-07-21 /pmc/articles/PMC10383294/ /pubmed/37512781 http://dx.doi.org/10.3390/mi14071471 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title_full Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title_fullStr Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title_full_unstemmed Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title_short Universally Grasping Objects with Granular—Tendon Finger: Principle and Design
title_sort universally grasping objects with granular—tendon finger: principle and design
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10383294/
https://www.ncbi.nlm.nih.gov/pubmed/37512781
http://dx.doi.org/10.3390/mi14071471
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