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Related Experiment Video

Updated: Aug 3, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Published on: October 27, 2023

A Versatile Continuum Gripping Robot with a Concealable Gripper.

Shuailong Zhang^1,2, Fenggang Li^1,2, Rongxin Fu³

¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Cyborg and Bionic Systems (Washington, D.C.)

|April 11, 2023

Summary

This summary is machine-generated.

This study introduces a versatile continuum grasping robot (CGR) with a concealable gripper, enabling effective object capture in narrow, unstructured spaces. The CGR overcomes size limitations, demonstrating versatile grasping capabilities for various objects and environments.

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Area of Science:

Robotics
Mechanical Engineering

Background:

Continuum robots offer compliance for navigating complex spaces and grasping objects.
Existing designs with large grippers face challenges in constrained environments.

Purpose of the Study:

To propose a versatile continuum grasping robot (CGR) with a novel concealable gripper.
To enable grasping of diverse objects in narrow and unstructured workspaces.

Main Methods:

Development of a global kinematic model based on screw theory.
Implementation of a "multi-node synergy method" for motion planning.
Integration of a concealable gripper with a continuum manipulator.

Main Results:

The CGR successfully captured objects of various shapes and sizes.
Demonstrated effective operation in complex and narrow environments.
Validated cooperative control between the continuum manipulator and the concealable gripper.

Conclusions:

The CGR presents a versatile solution for grasping in challenging environments.
Future applications include satellite capture in harsh space conditions.