Design of a compliant underactuated robotic finger with coordinated stiffness

Carl A. Nelson, Etienne Dessauw, Jean Marc Saiter, Mohamed Benzohra

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

3 Citations (Scopus)

Abstract

In this paper, we propose an underactuated robotic finger whose grasp behavior is modulated by the design of its superelastic joints. Using shape-memory alloy, the finger joints can be given specific stiffness and pre-form shapes such that a single-cable actuation rather than opposing-pair actuation can be used; this also allows the grasping motions of the phalanges to be synchronized in the free phase and then adaptive once contact is made. A default-closed pre-tensioned configuration allows grasp forces to be maximal for larger objects and still keeps control components such as tendons out of the grasp workspace. The simplicity of the design lends itself to the possibility of integrated joint angle and surface pressure sensing on the finger itself. The details of design, prototyping and testing are described.

Original languageEnglish (US)
Title of host publication37th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855942
DOIs
StatePublished - Jan 1 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume6 B

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

Fingerprint

Robotics
Stiffness
Grasping
Shape Memory
Tendons
Workspace
Prototyping
Cable
Shape memory effect
Simplicity
Cables
Sensing
Contact
Angle
Closed
Testing
Configuration
Motion
Design
Form

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Nelson, C. A., Dessauw, E., Saiter, J. M., & Benzohra, M. (2013). Design of a compliant underactuated robotic finger with coordinated stiffness. In 37th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6 B). American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-13358

Design of a compliant underactuated robotic finger with coordinated stiffness. / Nelson, Carl A.; Dessauw, Etienne; Saiter, Jean Marc; Benzohra, Mohamed.

37th Mechanisms and Robotics Conference. American Society of Mechanical Engineers, 2013. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6 B).

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

Nelson, CA, Dessauw, E, Saiter, JM & Benzohra, M 2013, Design of a compliant underactuated robotic finger with coordinated stiffness. in 37th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 6 B, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 8/4/13. https://doi.org/10.1115/DETC2013-13358
Nelson CA, Dessauw E, Saiter JM, Benzohra M. Design of a compliant underactuated robotic finger with coordinated stiffness. In 37th Mechanisms and Robotics Conference. American Society of Mechanical Engineers. 2013. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC2013-13358
Nelson, Carl A. ; Dessauw, Etienne ; Saiter, Jean Marc ; Benzohra, Mohamed. / Design of a compliant underactuated robotic finger with coordinated stiffness. 37th Mechanisms and Robotics Conference. American Society of Mechanical Engineers, 2013. (Proceedings of the ASME Design Engineering Technical Conference).
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