中文版 | English
Title

A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation

Author
Publication Years
2022
DOI
Source Title
ISSN
1941-014X
EISSN
1941-014X
VolumePPIssue:99Pages:1-12
Abstract
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper with soft actuators enhanced by rigid constraints is receiving growing attention in soft gripper design. With rigid structural components actuated by soft actuators, they could achieve excellent grasping adaptability and payload while also being easy to model and control with conventional kinematics. However, existing works were mostly focused on achieving superior payload and perception with simple planar workspaces, resulting in far less dexterity compared with conventional grippers. In this work, we took inspiration from the human metacarpophalangeal (MCP) joint and proposed a new hybrid gripper design with eight independent muscles. It was shown that adding the MCP complexity was critical in enabling a range of novel features in the hybrid gripper, including in-hand manipulation, lateral passive compliance, as well as new control modes. A prototype gripper was fabricated and tested on our proprietary dual-arm robot platform with vision-guided grasping. With very lightweight pneumatic bellows soft actuators, the gripper could grasp objects over 20 times its weight with lateral compliance. Using the dual-arm platform, highly anthropomorphic dexterous manipulations were demonstrated using two hybrid grippers, from tug of war on a rigid rod to passing a soft towel between two grippers using in-hand manipulation. Matching the novel features and performance specifications of the proposed hybrid gripper, the underlying modeling, actuation, control, and experimental validation details were also presented, offering a promising approach to achieving enhanced dexterity, strength, and compliance in robotic grippers.
Keywords
URL[Source Record]
Indexed By
SCI ; EI
Language
English
SUSTech Authorship
First
Funding Project
Science, Technology, and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004] ; Guangdong Basic and Applied Basic Research Foundation[2021A1515110658] ; NSFC[51975268]
WOS Research Area
Automation & Control Systems ; Engineering
WOS Subject
Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS Accession No
WOS:000840487500001
Publisher
EI Accession Number
20223412601382
EI Keywords
Bellows ; Compliance control ; Grippers ; Muscle ; Pneumatic actuators ; Pneumatics
ESI Classification Code
Biological Materials and Tissue Engineering:461.2 ; Machine Components:601.2 ; Pneumatics:632.3 ; Specific Variables Control:731.3 ; Robotics:731.5 ; Control Equipment:732.1 ; Mechanics:931.1
ESI Research Field
ENGINEERING
Data Source
Web of Science
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9854144
Citation statistics
Cited Times [WOS]:2
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/375579
DepartmentDepartment of Mechanical and Energy Engineering
Affiliation
1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, the Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, and the Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
2.Changchun Institute of Optics, Fine Mechanics and Physics, University of Chinese Academy of Sciences, Beijing, China
First Author AffilicationDepartment of Mechanical and Energy Engineering
First Author's First AffilicationDepartment of Mechanical and Energy Engineering
Recommended Citation
GB/T 7714
Wenpei Zhu,Chenghua Lu,Qule Zheng,et al. A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation[J]. IEEE/ASME Transactions on Mechatronics,2022,PP(99):1-12.
APA
Wenpei Zhu.,Chenghua Lu.,Qule Zheng.,Zhonggui Fang.,Haichuan Che.,...&Zheng Wang.(2022).A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation.IEEE/ASME Transactions on Mechatronics,PP(99),1-12.
MLA
Wenpei Zhu,et al."A Soft-Rigid Hybrid Gripper With Lateral Compliance and Dexterous In-Hand Manipulation".IEEE/ASME Transactions on Mechatronics PP.99(2022):1-12.
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