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Abstract In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.
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This content will become publicly available on March 1, 2026
Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
This paper presents an approach to passively realize any specified object spatial compliance using the grasp of a robotic hand. The kinematically anthropomorphic hands considered have multiple 4-joint fingers making hard point contact with the held object, and the joints of each finger have selectable passive elastic behavior. It is shown that the space of passively realizable compliances is restricted by the kinematic structure of the anthropomorphic hand. To achieve an arbitrary compliant behavior, fingers must be able to adjust their orientation. Synthesis procedures for grasps having 3, 4, and 5 or more fingers are developed. These procedures identify the finger configurations and the individual finger joint compliances needed to passively achieve any specified spatial object compliance matrix in the 20-dimensional subspace of grasp-realizable behaviors.
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- Award ID(s):
- 2024554
- PAR ID:
- 10539969
- Publisher / Repository:
- ASME
- Date Published:
- Journal Name:
- Journal of Mechanisms and Robotics
- Volume:
- 17
- Issue:
- 3
- ISSN:
- 1942-4302
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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