Journal Article10.1177/0278364914558494
Stable, open-loop precision manipulation with underactuated hands
Lael U. Odhner,Aaron M. Dollar +1 more
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TL;DR: The fact that not only can this class of hands be utilized for precision manipulation, but also that the reduction of the number of actuators and constraints can make within-hand manipulation easier to implement and control is discussed.
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Abstract: This paper discusses dexterous, within-hand manipulation with differential-type underactuated hands. We discuss the fact that not only can this class of hands, which to date have been considered almost exclusively for adaptive grasping, be utilized for precision manipulation, but also that the reduction of the number of actuators and constraints can make within-hand manipulation easier to implement and control. Next, we introduce an analytical framework for evaluating the dexterous workspace of objects held within the fingertips in a precision grasp. A set of design principles for underactuated fingers are developed that enable fingertip grasping and manipulation. Finally, we apply this framework to analyze the workspace of stable object configurations for an object held within a pinch grasp of a two-fingered underactuated planar hand, demonstrating a large and useful workspace despite only one actuator per finger. The in-hand manipulation workspace for the iRobot-Harvard-Yale Hand is experimentally measured and presented.
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Richard M. Murray,S. Shankar Sastry,Li Zexiang +2 more
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TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
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Matthew T. Mason,J. Kenneth Salisbury +1 more
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913
A compliant, underactuated hand for robust manipulation
Lael U. Odhner,Leif P. Jentoft,Mark R. Claffee,Nicholas Roy Corson,Yaroslav Tenzer,Raymond R. Ma,Martin Buehler,Robert Kohout,Robert D. Howe,Aaron M. Dollar +9 more
TL;DR: The iRobot-Harvard-Yale (iHY) Hand is introduced, an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks.
620
An overview of dexterous manipulation
Allison M. Okamura,N. Smaby,Mark R. Cutkosky +2 more
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TL;DR: An overview of research in dexterous manipulation is presented, which includes grasp planning and quality measures, and looks at mid- and low-level control frameworks, and then compares manipulation versus exploration.
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The Development of Soft Gripper for the Versatile Robot Hand
Shigeo Hirose,Yoji Umetani +1 more
TL;DR: In this paper, a new type of soft gripper which can softly and gently conform to objects of any shape and hold them with uniform pressure is presented, which is realized by means of a mechanism consisting of multi-links and series of pulleys which can be simply actuated by a pair of wires.
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