A compliant underactuated hand with suction flow for underwater mobile manipulation

Hannah S. Stuart, Shiquan Wang, Bayard Gardineer, David L. Christensen, Daniel M. Aukes, Mark Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations


© 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.
Original languageEnglish (US)
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Print)9781479936854
StatePublished - May 2014
Externally publishedYes

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: This work has been supported by the KAUST Red SeaRobotics Research Exploratorium. H. Stuart and B. Gardineerare additionally supported by NSF graduate fellowships.The assistance of Eduardo Moreno, Oussama Khatib, TorstenKroeger, and Philip Mullins is gratefully acknowledged.
This publication acknowledges KAUST support, but has no KAUST affiliated authors.


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