In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M2) Gripper, consists of a modular thumb with varying degrees of passive compliance and a dexterous, tendon-driven forefinger that can produce either underactuated or fully-actuated behaviors. With only two actuators and basic open-loop control, the hand is able to adaptively grasp objects of varying geometries, pinch-grasp smaller items, and perform some degree of in-hand manipulation via rolling and controlled sliding. We also detail the properties of this hand morphology that make it well-suited for future work in medical applications, haptic exploration, and studies on controlled stick-slip manipulation tasks.
CITATION STYLE
Ma, R. R., Spiers, A., & Dollar, A. M. (2016). M2 gripper: Extending the dexterity of a simple, Underactuated gripper. In Mechanisms and Machine Science (Vol. 36, pp. 795–805). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-23327-7_68
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