Development of robotic fingertip morphology for enhanced manipulation stability

Keung Or, Alexander Schmitz, Satoshi Funabashi, Mami Tomura, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    This study aims to develop a fingertip in order to improve the manipulation performance of posture interpolation control for a multifingered robot hand. Increasing the contact area between the fingertips and object is one solution for improving grasping and manipulation stability. A reasonable fingertip shape design and material selection can increase the contact area. In this paper, we compare an anthropomorphic shape to a cylindrical body with a semispherical tip. In order to test the practical property such as contact area size of our proposed fingertip, a pressure experiment was conducted for comparing the two fingertip shapes under different workloads. Finally, we installed the fingertips on a commercial available robot hand Allegro Hand. Two tasks were conducted for evaluating our proposed fingertip with posture interpolation control. The results show that our proposed fingertip could improve manipulation performance by comparing the success rate in both the experiments.

    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages25-30
    Number of pages6
    Volume2016-September
    ISBN (Electronic)9781509020652
    DOIs
    Publication statusPublished - 2016 Sep 26
    Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
    Duration: 2016 Jul 122016 Jul 15

    Other

    Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    CountryCanada
    CityBanff
    Period16/7/1216/7/15

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

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  • Cite this

    Or, K., Schmitz, A., Funabashi, S., Tomura, M., & Sugano, S. (2016). Development of robotic fingertip morphology for enhanced manipulation stability. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (Vol. 2016-September, pp. 25-30). [7576738] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576738