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Related Experiment Video

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A Bio-inspired Grasp Stiffness Control for Robotic Hands.

Virginia Ruiz Garate1, Maria Pozzi2,3, Domenico Prattichizzo2,3

  • 1Human-Robot Interfaces and Physical Interaction Department, Istituto Italiano di Tecnologia, Genova, Italy.

Frontiers in Robotics and AI
|January 27, 2021
PubMed
Summary

This study introduces a novel bio-inspired robotic hand control system for grasp stiffness. It optimizes hand poses and joint stiffness for stable, energy-efficient grasping, reducing control complexity.

Keywords:
bio-inspiredgraspingrobotic handstiffnessunder-actuation

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Area of Science:

  • Robotics
  • Control Systems
  • Bio-inspired Engineering

Background:

  • Achieving precise grasp stiffness in robotic hands is challenging.
  • Existing methods often involve complex control schemes or energy-intensive joint torque adjustments.

Purpose of the Study:

  • To develop a bio-inspired grasp stiffness control strategy for robotic hands.
  • To reduce control complexity and improve energy efficiency in robotic grasping.

Main Methods:

  • Utilizes Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS) concepts.
  • Employs an ellipsoid representation for desired grasp stiffness geometry.
  • Explores feasible hand poses and optimizes for minimum joint stiffness to stabilize grasps.

Main Results:

  • Demonstrates reduced control complexity by requiring only one input for desired joint stiffness.
  • Achieves more energy-efficient configurations by leveraging finger pose.
  • Successfully evaluated on the Allegro Hand grasping diverse objects with various stiffness profiles.

Conclusions:

  • The proposed method offers a simplified and energy-efficient approach to grasp stiffness control.
  • It effectively approximates desired grasp stiffness geometries through intelligent configuration selection.
  • This bio-inspired strategy enhances robotic hand performance for diverse tasks.