OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism

TL;DR

OPENGRASP-LITE is a lightweight, open-source tactile artificial hand that integrates compliant linkage mechanisms and MEMS barometer sensors, enabling versatile and soft grasping for research purposes.

Contribution

It introduces a novel, accessible design combining tactile sensing with compliant linkage mechanisms in a lightweight, open-source platform.

Findings

Provides tactile sensing with MEMS barometers

Enables soft and versatile grasping

Offers a highly integrated, lightweight design

Abstract

Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a lightweight, accessible solution integrating tactile sensing with a compliant linkage-based mechanism. This paper introduces OPENGRASP LITE, an open-source, highly integrated, tactile, and lightweight artificial hand. Leveraging compliant linkage systems and MEMS barometer-based tactile sensing, it offers versatile grasping capabilities with six degrees of actuation. By providing tactile sensors and enabling soft grasping, it serves as an accessible platform for further research in tactile artificial hands.