A compliant, underactuated hand for robust manipulation

By Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nick Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert C. Kohout, Robert D. Howe, Aaron M. Dollar. Int. J. Robotics Res., 2013

600 citations recorded by the source corpus.

This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of the iHY Hand, which was developed by choosing a set of target tasks around which the hand was optimized. Particular emphasis is placed on the development of underactuated fingers that are capable of both firm power grasps and low-stiffness fingertip grasps using only the compliant mechanics of the fingers. Experimental results demonstrate successful grasping of a wide range of target objects, the stability of fingertip grasping, and the ability to adjust the force exerted on grasped objects using high-impedance actuators and underactuated fingers.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/f556d5e19fc363e85f96cbab73b3d7781292b9d4

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation (2018, background): “Moreover, low-cost robotics hands, which are becoming increasingly popular in the robotic community, are compliant and underactuated [1]–[4].”
Mechanically Versatile Soft Machines through Laminar Jamming (2018, background): “[25] LU Odhner, LP Jentoft, MR Claffee, N Corson, Y Tenzer, RR Ma, M Buehler, R Kohout, RD Howe, and AM Dollar.”
Tactile sensing in dexterous robot hands - Review (2015, unknown): “Using the same digital barometer, Odhner et al. [42] developed a tactile sensor array (Figure 6(c)) with a spatial resolution of around (3 − 5 mm ) , sensitivity 1 mN , and dynamic range up to 4 .”
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.”
Multiprocess 3D printing for increasing component functionality (2016, background): “Several groups have created prosthetic hands with embedded external motion (4, 54, 55).”
A novel type of compliant and underactuated robotic hand for dexterous grasping (2016, methodology): “…were built using passive compliance: the FRH-4 hand [Gaiser et al., 2008], the SDM hand and its successor [Dollar and Howe, 2008, Ma et al., 2013, Odhner et al., 2014], the starﬁsh gripper [Ilievski et al., 2011], the THE Second Hand and the Pisa-IIT Soft Hand [Catalano et al., 2014], the…”