The Highly Adaptive SDM Hand: Design and Performance Evaluation

By Aaron M. Dollar, Robert D. Howe. Int. J. Robotics Res., 2010

541 citations recorded by the source corpus.

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

View Paper: https://www.semanticscholar.org/paper/edbfdeaa6d51937eda07b6460751ea2b8a04f99a

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Citations in the corpus

Trends and challenges in robot manipulation (2019, background): “Several studies have also demonstrated how underactuated hands can be leveraged to grasp and manipulate objects in unstructured environments and how this work may lead to adaptive hands that are relatively cheap, lightweight, andeasyto controlcompared with fully actuated hands ( 43 – 48 ).”
On dexterity and dexterous manipulation (2011, background): “Designing adaptive manipulators with flexible material creates “mechanically intelligent” mechanisms inherently suited for particular tasks [37].”
A compliant hand based on a novel pneumatic actuator (2013, methodology): “SDM Hand: The design of the SDM Hand also embraces compliance as a central design objective [1].”
Adaptive synergies for the design and control of the Pisa/IIT SoftHand (2014, background): “2, where all the joints are controlled by two adaptive synergies. to [Tomovic and Boni, 1962], [Hirose and Umetani, 1978], [Rovetta, 1981], and also to [Lalibert´e and Gosselin, 1998], [Carrozza et al., 2004], [Gosselin et al., 2008] and [Dollar and Howe, 2010].”
Design and Characterization of a Soft Multi-Axis Force Sensor Using Embedded Microfluidic Channels (2013, background): “THE DEVELOPMENT of soft sensors is a key challenge for wearable electronics [1], soft robots [2]–[4], humanoid robots [5], medical robots [6], [7], dexterous robot manipulators [8], [9], haptic interfaces [10] and countless other applications that require sensors that do not impede the motion of the”
TriFinger: An Open-Source Robot for Learning Dexterity (2020, background): “In addition, Dollar & Howe (2010); She et al. (2015); Xu & Todorov (2016) proposed some innovative, exploratory hand designs.”
A Bioinspired Soft Robotic Gripper for Adaptable and Effective Grasping (2015, unknown): “According to these outcomes, a ﬁrst consideration regards the weight of the device: it is very small with respect to the traditional robotic grippers, 21,24 but despite this, it is able to lift relatively high weight without requiring high contact force.”
A novel type of compliant and underactuated robotic hand for dexterous grasping (2016, background): “We believe that this design choice is critical for robust grasping: First, passive compliance facilitates obtaining force closure in power grasps [Dollar and Howe, 2010, Deimel and Brock, 2013].”
Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems (2016, background): “Grasp planning can benefit substantially from embodiment, as exemplified by simple under-actuated robotic hands [9, 14, 15, 35].”
Grasping from the air: Hovering capture and load stability (2011, background): “Aircraft mass change mid-flight is usually negative, as fuel is consumed or payload is deployed; the effects of directly attaching payload to a helicopter mid-flight are unexplored.”
Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review. (2013, background): “These mechanisms are considered adaptive because, when they are used in a hand, they allow multiple links of the fingers to passively adapt to the shape and location of an object with a single actuator [37–38].”
Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides (2016, background): “However, very few soft prosthetics have demonstrated equivalent sensing ability as motor-driven hand prosthetics, which often achieve proprioceptive sensing through motor motion encoders (8, 10–13) and realize force sensing through multiaxial force/torque load cells (10, 12, 13), which are bulky and”
A compliant, underactuated hand for robust manipulation (2013, methodology): “The SDM Hand achieved this sweeping motion by designing the distal finger joints to be four to five times stiffer than the proximal joints, as analyzed by Dollar and Howe (2010).”