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Design, Fabrication, and Characterization of a Soft Multi-Fingered Hand

[+] Author Affiliations
Lena Johnson, Hugh A. Bruck

University of Maryland, College Park, College Park, MD

Satyandra K. Gupta

University of Southern California, Los Angeles, CA

Paper No. IMECE2016-66175, pp. V009T12A073; 10 pages
doi:10.1115/IMECE2016-66175
From:
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 9: Mechanics of Solids, Structures and Fluids; NDE, Diagnosis, and Prognosis
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5063-3
  • Copyright © 2016 by ASME

abstract

This paper describes the design, fabrication, testing and modeling of the SUR Hand. The SUR Hand is a soft, under actuated robotic hand. Through an iterative design and manufacturing process, SUR Hand’s soft, actuating components have been adapted from the original PneuFlex, pneumatically actuated finger to be highly flexible and capable of actuating a precision force. This paper shows how altering the design parameters of the fingers altered their overall performance. Furthermore, it details the experimental setup for testing the components, as well as the modeling methods used. Finally, it shows the process for creating and validating a geometric model that characterizes proper grasping strategies, assuming a passive palm component.

Copyright © 2016 by ASME
Topics: Manufacturing , Design

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