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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| Veröffentlicht in: | Electronics (Basel) 2023-04, Vol.12 (8), p.1902 |
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| container_title | Electronics (Basel) |
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| creator | Fakhri, Osamah Youssef, George Nacy, Somer Jameel Al-Tamimi, Adnan Naji Hussein, O. Abbood, Wisam T. Abdullah, Oday Ibraheem AL-Karkhi, Nazar Kais |
| description | 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 finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities. |
| doi_str_mv | 10.3390/electronics12081902 |
| format | Article |
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The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.</description><identifier>ISSN: 2079-9292</identifier><identifier>EISSN: 2079-9292</identifier><identifier>DOI: 10.3390/electronics12081902</identifier><language>eng</language><publisher>Basel: MDPI AG</publisher><subject>Contact pressure ; Control systems ; Deformation ; End effectors ; External pressure ; Fingers ; Granular materials ; Granular media ; Grasping (robotics) ; Jamming ; Load ; Pressure gauges ; Robot arms ; Robotics ; Robots ; Stiffness ; Torque</subject><ispartof>Electronics (Basel), 2023-04, Vol.12 (8), p.1902</ispartof><rights>COPYRIGHT 2023 MDPI AG</rights><rights>2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). 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The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.</description><subject>Contact pressure</subject><subject>Control systems</subject><subject>Deformation</subject><subject>End effectors</subject><subject>External pressure</subject><subject>Fingers</subject><subject>Granular materials</subject><subject>Granular media</subject><subject>Grasping (robotics)</subject><subject>Jamming</subject><subject>Load</subject><subject>Pressure gauges</subject><subject>Robot arms</subject><subject>Robotics</subject><subject>Robots</subject><subject>Stiffness</subject><subject>Torque</subject><issn>2079-9292</issn><issn>2079-9292</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNptkUtLw0AQx4MoKLWfwMuC59R9JNnsMRTbKhXBxzlM9qFbkmzd3Sr99m5pDx6cOcyD-c0w_LPshuAZYwLf6V7L6N1oZSAU10RgepZdUcxFLqig53_yy2wawgYnE4TVDF9lfYNe9yHqAaKVqNluvQP5iaJDrxG6XqOlh7C14wdyBgF6-3H5IlXaoxfXuQOzglGhRkb7DVEr1O3RIwzDiUj0uOvBoyetLFxnFwb6oKenOMneF_dv81W-fl4-zJt1LllFYl5XtBCVUYCNqiQDJkwpMXCudVEzIKICjjvDS0oEIbLmXMlOdWWhcCcMoWyS3R73pm--djrEduN2fkwnW1rjqmSUC5GmZsepD-h1a0fjogeZXOnBSjdqY1O_4QUvCiYoTgA7AtK7ELw27dbbAfy-Jbg9SNH-IwX7Bf7hfqc</recordid><startdate>20230401</startdate><enddate>20230401</enddate><creator>Fakhri, Osamah</creator><creator>Youssef, George</creator><creator>Nacy, Somer</creator><creator>Jameel Al-Tamimi, Adnan Naji</creator><creator>Hussein, O.</creator><creator>Abbood, Wisam T.</creator><creator>Abdullah, Oday Ibraheem</creator><creator>AL-Karkhi, Nazar Kais</creator><general>MDPI AG</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L7M</scope><scope>P5Z</scope><scope>P62</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><orcidid>https://orcid.org/0000-0002-7587-9625</orcidid><orcidid>https://orcid.org/0000-0001-8722-2279</orcidid><orcidid>https://orcid.org/0000-0002-8091-5395</orcidid><orcidid>https://orcid.org/0000-0001-5450-021X</orcidid></search><sort><creationdate>20230401</creationdate><title>A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media</title><author>Fakhri, Osamah ; 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The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. 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| source | MDPI - Multidisciplinary Digital Publishing Institute; EZB-FREE-00999 freely available EZB journals |
| subjects | Contact pressure Control systems Deformation End effectors External pressure Fingers Granular materials Granular media Grasping (robotics) Jamming Load Pressure gauges Robot arms Robotics Robots Stiffness Torque |
| title | A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media |
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