TY - GEN
T1 - Development of robotic fingertip morphology for enhanced manipulation stability
AU - Or, Keung
AU - Schmitz, Alexander
AU - Funabashi, Satoshi
AU - Tomura, Mami
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84992371728&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2016.7576738
DO - 10.1109/AIM.2016.7576738
M3 - Conference contribution
AN - SCOPUS:84992371728
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 25
EP - 30
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -