Design, Fabrication, and Characterization of a Soft Multi-Fingered Hand
Keyword(s):
This paper describes the design, fabrication, testing and modeling of the SUR Hand. The SUR Hand is a soft, under actuated robotic hand. Through an iterative design and manufacturing process, SUR Hand’s soft, actuating components have been adapted from the original PneuFlex, pneumatically actuated finger to be highly flexible and capable of actuating a precision force. This paper shows how altering the design parameters of the fingers altered their overall performance. Furthermore, it details the experimental setup for testing the components, as well as the modeling methods used. Finally, it shows the process for creating and validating a geometric model that characterizes proper grasping strategies, assuming a passive palm component.
2019 ◽
Vol 12
(05)
◽
pp. 134-140
2019 ◽
Vol 139
(11)
◽
pp. 375-380
Fabrication and Characterization of Chain-like Arrangement of Gold Nanoparticles using Nanotemplates
2015 ◽
Vol 135
(11)
◽
pp. 474-475
Keyword(s):
2014 ◽
Vol 4
(3)
◽
pp. 27-32