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 (pp. p. 115).

open access
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
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Engineering Technology (CTW)
Research Group:
Link to this item:
Organisation URL:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page