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Title: Design and Control of Foam Hands for Dexterous Manipulation
There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.
Authors:
; ; ; ; ; ;
Award ID(s):
1637853
Publication Date:
NSF-PAR ID:
10201824
Journal Name:
International Journal of Humanoid Robotics
Volume:
17
Issue:
01
Page Range or eLocation-ID:
1950033
ISSN:
0219-8436
Sponsoring Org:
National Science Foundation
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