PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation
© 2020 IEEE. We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows contr...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2022
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| Online Access: | https://hdl.handle.net/1721.1/141402 |
| _version_ | 1826209915502329856 |
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| author | Taylor, Ian H Chavan-Dafle, Nikhil Li, Godric Doshi, Neel Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Taylor, Ian H Chavan-Dafle, Nikhil Li, Godric Doshi, Neel Rodriguez, Alberto |
| author_sort | Taylor, Ian H |
| collection | MIT |
| description | © 2020 IEEE. We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-bandwidth (5 Hz) phase transitions independent of the grasping force for manipulation of a variety of objects. Moreover, its thin profile (1 cm) facilitates picking and placing in clutter. Finally, the design features a sensor for measuring fingertip rotation to support feedback control. We experimentally characterize the finger's load handling capacity in the brake phase and rotational resistance in the free phase. We also demonstrate several pick-and-place manipulations common to industrial and laboratory automation settings that are simplified by our design. |
| first_indexed | 2024-09-23T14:35:14Z |
| format | Article |
| id | mit-1721.1/141402 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:35:14Z |
| publishDate | 2022 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1414022023-01-26T21:34:19Z PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation Taylor, Ian H Chavan-Dafle, Nikhil Li, Godric Doshi, Neel Rodriguez, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering © 2020 IEEE. We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-bandwidth (5 Hz) phase transitions independent of the grasping force for manipulation of a variety of objects. Moreover, its thin profile (1 cm) facilitates picking and placing in clutter. Finally, the design features a sensor for measuring fingertip rotation to support feedback control. We experimentally characterize the finger's load handling capacity in the brake phase and rotational resistance in the free phase. We also demonstrate several pick-and-place manipulations common to industrial and laboratory automation settings that are simplified by our design. 2022-03-30T13:52:22Z 2022-03-30T13:52:22Z 2020 2022-03-30T13:46:45Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/141402 Taylor, Ian H, Chavan-Dafle, Nikhil, Li, Godric, Doshi, Neel and Rodriguez, Alberto. 2020. "PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation." IEEE International Conference on Intelligent Robots and Systems. en 10.1109/IROS45743.2020.9340751 IEEE International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Prof. Rodriguez Garcia via Elizabeth Kuhlman |
| spellingShingle | Taylor, Ian H Chavan-Dafle, Nikhil Li, Godric Doshi, Neel Rodriguez, Alberto PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title | PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title_full | PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title_fullStr | PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title_full_unstemmed | PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title_short | PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation |
| title_sort | pnugrip an active two phase gripper for dexterous manipulation |
| url | https://hdl.handle.net/1721.1/141402 |
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