Novel Dexterous Robotic Finger Concept with Controlled Stiffness

Wassink, Martin and Carloni, Raffaella and Brouwer, Dannis and Stramigioli, Stefano (2009) Novel Dexterous Robotic Finger Concept with Controlled Stiffness. In: 28th Benelux Meeting on Systems and Control, 16-18 March 2009, Spa, Belgium.

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Abstract:	This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.
Item Type:	Conference or Workshop Item
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS) Engineering Technology (CTW)
Research Group:	Mechanical Automation and Mechatronics Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/71239
Organisation URL:	http://www.montefiore.ulg.ac.be/~beneluxmeeting09/
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