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In-Hand Manipulation Primitives for a Minimal, Underactuated Gripper With Active Surfaces

[+] Author Affiliations
Raymond R. Ma, Aaron M. Dollar

Yale University, New Haven, CT

Paper No. DETC2016-60354, pp. V05AT07A072; 7 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME


Dexterous in-hand manipulation tasks have been difficult to execute, even with highly complex hands and control schemes, as the object grasp stability needs to be maintained while it is displaced in the hand workspace. Researchers have shown that underactuated, adaptive hand designs can effectively immobilize objects with simple, open-loop, but there have been few cases where underactuation has been leveraged to enhance in-hand manipulation. In this work, we investigate the performance of a gripper utilizing a thumb with an active, belt-driven, conveyor surface and an opposing, underactuated finger with passive rollers, for a variety of manipulation tasks and range of objects. We show that consistent, repeatable object motion can be obtained while ensuring a rigid grasp without a priori knowledge of the object geometry or contact locations, due to the adaptive qualities of underactuated design. Many dexterous in-hand manipulation examples with their anthropomorphic equivalents are examined, and simple, open-loop control schemes to optimize the repeatability of these tasks are proposed.

Copyright © 2016 by ASME
Topics: Grippers



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