A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the fing...

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Bibliographic Details
Main Authors: Osamah Fakhri, George Youssef, Somer Nacy, Adnan Naji Jameel Al-Tamimi, O. Hussein, Wisam T. Abbood, Oday Ibraheem Abdullah, Nazar Kais AL-Karkhi
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Electronics
Subjects:
jamming mechanism
granular media
stable grasping
variable stiffness
Online Access:https://www.mdpi.com/2079-9292/12/8/1902

Internet

https://www.mdpi.com/2079-9292/12/8/1902

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