Adaptive-twist Soft Finger Mechanism for Grasping by Wrapping
Hiroki Ishikawa, Kyosuke Ishibashi, Ko Yamamoto

TL;DR
This paper introduces an adaptive-twist soft finger mechanism enabling wrapping grasping through variable stiffness control, demonstrated via FEA and experiments on grasping diverse objects.
Contribution
It proposes a novel soft finger with adaptive-twist deformation and variable stiffness control for improved grasping capabilities.
Findings
Successful grasping of various objects demonstrated
Finite element analysis validated the design parameters
The mechanism enables deep insertion among objects
Abstract
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the adaptive-twist deformation function in both in-plane and out-of-plane directions. The function allows the finger to be inserted deeply into a limited gap among objects. Once inserted, the soft finger requires appropriate control of grasping force normal to contact surface, thereby maintaining the twisted deformation. In this paper, we refer to this type of grasping as grasping by wrapping. To achieve these two functions by a single actuation source, we propose a variable stiffness mechanism that can adaptively change the stiffness as the pressure is higher. We conduct a finite element analysis (FEA) on the proposed mechanism and determine its design parameter…
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