SPINE Gripper: A Twisted Underactuated Mechanism-based Passive Mode-Transition Gripper

TL;DR

This paper introduces a passive gripper with a single actuator that can switch between grasping and in-hand rotation using a mechanically encoded power transmission logic, eliminating the need for sensors or multiple actuators.

Contribution

The design of a Twisted Underactuated Mechanism (TUM) enables mode transition solely based on input torque magnitude, simplifying multifunctional robotic manipulation.

Findings

Successful stable grasping and in-hand rotation demonstrated

Quantitative validation of kinematic and force models

System-level tasks performed using only wrist torque

Abstract

This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that require multiple actuators, sensors, or control-based switching, the proposed gripper transitions between grasping and rotation solely according to the magnitude of the applied input torque. The key enabler of this behavior is a Twisted Underactuated Mechanism (TUM), which generates non-coplanar motions, namely axial contraction and rotation, from a single rotational input while producing identical contraction regardless of rotation direction. A friction generator mechanically defines torque thresholds that govern passive mode switching, enabling stable grasp establishment before autonomously transitioning to in-hand rotation without sensing or active control. Analytical models describing the kinematics, elastic force generation, and torque transmission of the TUM are derived and experimentally validated. The fabricated gripper is evaluated through quantitative experiments on grasp success, friction-based grasp force regulation, and bidirectional rotation performance. System-level demonstrations, including bolt manipulation, object reorientation, and manipulator-integrated tasks driven solely by wrist torque, confirm reliable grasp to rotate transitions in both rotational directions. These results demonstrate that non-coplanar multifunctional manipulation can be realized through mechanical design alone, establishing mechanically encoded power transmission logic as a robust alternative to actuator and control intensive gripper architectures.