In-Hand Manipulation Inspired by Diabolo Juggling

This paper discusses in-hand manipulation inspired by diabolo juggling. Continuous rotational manipulation using the vibration of a flexible belt attached to the hand is proposed. This method is highly adaptable, enabling the hand to manipulate various types of objects, without requiring complex sensing or control, or a complex mechanism. First, a simplified analytical model composed of a flexible belt and a cylindrical object is introduced. Based on periodic input to the two endpoints of the belt, continuous rotation based on slipping of the object is theoretically discussed. Then, via numerical examples, it is shown that the average angular velocity of the object can be controlled. Finally, the proposed method is experimentally validated using a prototype hand. It is shown that the stable holding and continuous rotation of the object are easily achieved. The versatility of the method is demonstrated through experiments using objects with various shapes, sizes, and masses.