A Bistable Underactuated Finger with Reconfigurable Grasping Modes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a bistable finger design for grasping, with the bistability property lending itself to reconfiguration from a preferred pinch grasp to a preferred power (enveloping) grasp. This allows selective triggering of the transition between these two grasp types to prevent loss of stable grasp. Design, analysis, simulation, and prototyping of the grasping mechanism are presented.

LanguageEnglish (US)
Title of host publication2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
EditorsJust L. Herder, Volkert van der Wijk
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538663806
DOIs
StatePublished - Aug 28 2018
Event4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Netherlands
Duration: Jun 20 2018Jun 22 2018

Other

Other4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
CountryNetherlands
CityDelft
Period6/20/186/22/18

Fingerprint

Grasping
Bistability
Prototyping
Simulation Analysis
Reconfiguration
Design

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modeling and Simulation

Cite this

Nelson, C. A. (2018). A Bistable Underactuated Finger with Reconfigurable Grasping Modes. In J. L. Herder, & V. van der Wijk (Eds.), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings [8449860] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REMAR.2018.8449860

A Bistable Underactuated Finger with Reconfigurable Grasping Modes. / Nelson, Carl A.

2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. ed. / Just L. Herder; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018. 8449860.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nelson, CA 2018, A Bistable Underactuated Finger with Reconfigurable Grasping Modes. in JL Herder & V van der Wijk (eds), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings., 8449860, Institute of Electrical and Electronics Engineers Inc., 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Netherlands, 6/20/18. https://doi.org/10.1109/REMAR.2018.8449860
Nelson CA. A Bistable Underactuated Finger with Reconfigurable Grasping Modes. In Herder JL, van der Wijk V, editors, 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8449860 https://doi.org/10.1109/REMAR.2018.8449860
Nelson, Carl A. / A Bistable Underactuated Finger with Reconfigurable Grasping Modes. 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. editor / Just L. Herder ; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018.
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