A compliant hand based on a novel pneumatic actuator

The RBO Hand is a novel, highly compliant robotic hand. It exhibits robust grasping performance, is easy to build and prototype, and very cheap to produce. One of the primary design motivations is the extensive leverage of compliance to achieve robust shape matching between the hand and the grasped...

Full description

Saved in:
Bibliographic Details
Published in2013 IEEE International Conference on Robotics and Automation pp. 2047 - 2053
Main Authors Deimel, Raphael, Brock, Oliver
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2013
Subjects
Fatigue
Materials
Robots
Robustness
Thumb
Wrist
Online AccessGet full text
ISBN1467356417
9781467356411
ISSN1050-4729
DOI10.1109/ICRA.2013.6630851

Cover

More Information
Summary:The RBO Hand is a novel, highly compliant robotic hand. It exhibits robust grasping performance, is easy to build and prototype, and very cheap to produce. One of the primary design motivations is the extensive leverage of compliance to achieve robust shape matching between the hand and the grasped object. This effect results in robust grasping performance under sensing, model, and actuation uncertainty. We show the feasibility of our approach to constructing robotic hands in extensive grasping experiments on objects with varying properties, included water bottles, eye glasses, and sheets of fabric. The RBO hand is based on a novel pneumatic actuator, called PneuFlex, which exhibits desirable properties for robotic fingers.
ISBN:1467356417
9781467356411
ISSN:1050-4729
DOI:10.1109/ICRA.2013.6630851