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

doi:10.1109/icra.2014.6907847

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 proceeding › Conference contribution

39 Scopus citations

Abstract

© 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 language	English (US)
Title of host publication	2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	6691-6697
Number of pages	7
ISBN (Print)	9781479936854
DOIs	https://doi.org/10.1109/icra.2014.6907847
State	Published - May 2014
Externally published	Yes

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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10.1109/icra.2014.6907847

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Stuart, H. S., Wang, S., Gardineer, B., Christensen, D. L., Aukes, D. M., & Cutkosky, M. (2014). A compliant underactuated hand with suction flow for underwater mobile manipulation. In 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6691-6697). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/icra.2014.6907847

@inproceedings{9b5afbb4679347b2becd258d2704b84e,

title = "A compliant underactuated hand with suction flow for underwater mobile manipulation",

abstract = "{\textcopyright} 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.",

author = "Stuart, {Hannah S.} and Shiquan Wang and Bayard Gardineer and Christensen, {David L.} and Aukes, {Daniel M.} and Mark Cutkosky",

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.",

year = "2014",

month = may,

doi = "10.1109/icra.2014.6907847",

language = "English (US)",

isbn = "9781479936854",

pages = "6691--6697",

booktitle = "2014 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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A compliant underactuated hand with suction flow for underwater mobile manipulation. / Stuart, Hannah S.; Wang, Shiquan; Gardineer, Bayard et al.
2014 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), 2014. p. 6691-6697.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A compliant underactuated hand with suction flow for underwater mobile manipulation

AU - Stuart, Hannah S.

AU - Wang, Shiquan

AU - Gardineer, Bayard

AU - Christensen, David L.

AU - Aukes, Daniel M.

AU - Cutkosky, Mark

N1 - 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.

PY - 2014/5

Y1 - 2014/5

N2 - © 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.

AB - © 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.

UR - http://hdl.handle.net/10754/597239

UR - https://ieeexplore.ieee.org/document/6907847/

UR - http://www.scopus.com/inward/record.url?scp=84929208966&partnerID=8YFLogxK

U2 - 10.1109/icra.2014.6907847

DO - 10.1109/icra.2014.6907847

M3 - Conference contribution

SN - 9781479936854

SP - 6691

EP - 6697

BT - 2014 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

A compliant underactuated hand with suction flow for underwater mobile manipulation

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Bibliographical note

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