| Autor: |
Nishimura, Toshihiro, Shimizu, Kensuke, Nojiri, Seita, Tadakuma, Kenjiro, Suzuki, Yosuke, Tsuji, Tokuo, Watanabe, Tetsuyou |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
IEEE Robotics and Automation Letters (2022)(Early Access) |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1109/LRA.2022.3157964 |
| Popis: |
This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction variable mechanism. In the friction variable mechanism, a lubricant is injected onto the high-friction finger surface to reduce surface friction. To inject the lubrication using a positive-pressure airflow, the Venturi effect is applied. The design and evaluation of the airflow-path switching and friction variable mechanisms are described. Moreover, the entire design of a soft robotic hand equipped with these mechanisms is presented. The performance was validated through grasping, placing, and manipulation tests. |
| Databáze: |
arXiv |
| Externí odkaz: |
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