A Tactile-enabled Hybrid Rigid-Soft Continuum Manipulator for Forceful Enveloping Grasps via Scale Invariant Design
Name
2023-ICRA-Palm gripper-final (1).pdf
Description
Accepted version
Size
777.83 KB
Format
Adobe PDF
Checksum (MD5)
9905ed29ddbdf68afc06e43920e5b657
Author(s)
Taylor, Ian H.
Bawa, Maheera
Rodriguez, Alberto
Date Issued
May 29, 2023
Publisher
IEEE|2023 IEEE International Conference on Robotics and Automation (ICRA)
Citation
Taylor, Ian H., Bawa, Maheera and Rodriguez, Alberto. 2023. "A Tactile-enabled Hybrid Rigid-Soft Continuum Manipulator for Forceful Enveloping Grasps via Scale Invariant Design."
Version
Author's final manuscript
Abstract
This work presents a novel hybrid rigid-soft continuum manipulator, which integrates high-resolution tactile
sensing in a form factor that is forceful, compliant, inherently
safe, and easily controllable. We utilize a hybrid approach
motivated by scale-invariant principles to fuse the rigid and soft
design domains while addressing their respective challenges. We
use Euler-Bernoulli beam theory and geometric inference to
design and develop a novel variant of folded flexure hinge (FFH)
compliant mechanism, the variable area moment of inertia
folded flexure hinge (VAFFH), which deforms logarithmically
along its length and thus yields first-order scale-invariant
grasp behavior. Finally, we characterize the forcefulness of the
manipulator and demonstrate its compliance, adaptability, and
tactile sensing capabilities in selected tasks
Description
2023 IEEE International Conference on Robotics and Automation (ICRA 2023)
May 29 - June 2, 2023. London, UK
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra48891.2023.10161121
