A robust compliant grasper via shape deposition manufacturing

By Aaron M. Dollar, Robert D. Howe. IEEE/ASME transactions on mechatronics, 2006

235 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Building and Construction, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/aa74f3ea0e0942ca33f59ad3960f73ead40cf200

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In Biomedical Engineering

In Building and Construction

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Citations in the corpus

Pouch Motors: Printable Soft Actuators Integrated with Computational Design (2015, unknown): “The theoretical curves are the parametric plot of the Equations (14) and (16) for 0 h £ p / 2.”
Soft Manipulators and Grippers: A Review (2016, methodology): “Such methods were used to create a gripper with articulated joints (Dollar and Howe, 2006), and other biomimetic robots, many of which take advantage of the ability to include sensors within the 3D structure (Dollar et al., 2006).”
Multiple material additive manufacturing – Part 1: a review (2013, background): “…to fabricate multiple material structures that combine rigid materials, compliant materials and integrate sensors and other discrete components (Dollar and Howe 2006, Cutkosky and Kim 2009) that allow components to be embedded, decreasing the damage to sensor components by encasing them within…”
The Boom in 3D-Printed Sensor Technology (2017, background): “Using the motion of the magnet attached to the flexure, Hall-effect sensors can detect the displacement [81,82].”
A compliant, underactuated hand for robust manipulation (2013, methodology): “The fingers were constructed using a casting and overmolding process based on Shape Deposition Manufacturing (Merz et al., 1994; Cham et al., 1999; Dollar and Howe, 2006), but streamlined for higher-volume production by the elimination of intermediate machining steps.”
Soft Robots Manufacturing: A Review (2018, background): “Because there is not a single shape deposition manufacturing method, there is almost no limit in the combination of manufacturing processes, allowing a designer to create structures combining heterogeneous materials (Dollar and Howe, 2006).”
The Highly Adaptive SDM Hand: Design and Performance Evaluation (2010, methodology): “We begin with a short description of the fingers used on the hand (Figure 3), which are nearly identical to the fingers used in a previously developed gripper (Dollar and Howe 2006).”
Universal robotic gripper based on the jamming of granular material (2010, background): “[13] Dollar AM, Howe RD (2006) A robust compliant grasper”
Soft Robotic Grippers for Biological Sampling on Deep Reefs (2016, methodology): “The design and actuation of the compliant underwater gripper demonstrated by Stanford are similar to the shape deposition manufactured hand developed at Harvard, using a single tendon to drive each finger and coupling the rigid polymer phalanges of each finger with elastomeric flexure joints.(20) Si”
Tactile Sensing—From Humans to Humanoids (2010, background): “Other complementary strategies for safe interaction are the 870 torque control [186], variable stiffness actuators [187], and soft 871 robotic components [188].”