Soft Fingers with Controllable Compliance to Enable Realization of Low Cost Grippers | SpringerLink
Skip to main content
Springer Nature Link
Log in

Soft Fingers with Controllable Compliance to Enable Realization of Low Cost Grippers

  • Conference paper
  • First Online:
Biomimetic and Biohybrid Systems (Living Machines 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10384))

Included in the following conference series:

  • 4389 Accesses

Abstract

Grippers are needed to manipulate objects using robotic arms.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
JPY 3498
Price includes VAT (Japan)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
JPY 5719
Price includes VAT (Japan)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
JPY 7149
Price includes VAT (Japan)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Amend, J.R., Brown, E., Rodenberg, N., Jaeger, H.M., Lipson, H.: A positive pressure universal gripper based on the jamming of granular material. IEEE Trans. Robot. 28(2), 341–350 (2012)

    Article  Google Scholar 

  2. Deimel, R., Brock, O.: A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Robot. Res. 35(1–3), 161–185 (2016)

    Article  Google Scholar 

  3. Galloway, K.C., Becker, K.P., Phillips, B., Kirby, J., Licht, S., Tchernov, D., Wood, R.J., Gruber, D.F.: Soft robotic grippers for biological sampling on deep reefs. Soft Robot. 3(1), 23–33 (2016)

    Article  Google Scholar 

  4. Homberg, B.S., Katzschmann, R.K., Dogar, M.R., Rus, D.: Haptic identification of objects using a modular soft robotic gripper. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1698–1705. IEEE (2015)

    Google Scholar 

  5. Manti, M., Hassan, T., Passetti, G., D’Elia, N., Laschi, C., Cianchetti, M.: A bioinspired soft robotic gripper for adaptable and effective grasping. Soft Robot. 2(3), 107–116 (2015)

    Article  Google Scholar 

  6. Wall, V., Deimel, R., Brock, O.: Selective stiffening of soft actuators based on jamming. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 252–257. IEEE (2015)

    Google Scholar 

  7. Yap, H.K., Lim, J.H., Goh, J.C.H., Yeow, C.H.: Design of a soft robotic glove for hand rehabilitation of stroke patients with clenched fist deformity using inflatable plastic actuators. J. Med. Dev. 10(4), 044504 (2016)

    Article  Google Scholar 

  8. Zhou, X., Majidi, C., O’Reilly, O.M.: Soft hands: An analysis of some gripping mechanisms in soft robot design. Int. J. Solids Struct. 64, 155–165 (2015)

    Article  Google Scholar 

  9. Johnson, L., Bruck, H.A., Gupta, S.K.: Design, fabrication, and characterization of a soft multi-fingered hand. In: ASME 2016 International Mechanical Engineering Congress and Exposition, American Society of Mechanical Engineers (2016)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, 90089, USA

    Keng-Yu Lin & Satyandra K. Gupta

Authors
  1. Keng-Yu Lin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Satyandra K. Gupta
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Satyandra K. Gupta .

Editor information

Editors and Affiliations

  1. University of Lincoln, Lincoln, United Kingdom

    Michael Mangan

  2. Stanford University, Stanford, California, USA

    Mark Cutkosky

  3. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura

  4. Universitat Pompeu Fabra, Barcelona, Spain

    Paul F.M.J. Verschure

  5. University of Sheffield, Sheffield, United Kingdom

    Tony Prescott

  6. Bristol University, Bristol, United Kingdom

    Nathan Lepora

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Lin, KY., Gupta, S.K. (2017). Soft Fingers with Controllable Compliance to Enable Realization of Low Cost Grippers. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P., Prescott, T., Lepora, N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science(), vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_48

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-63537-8_48

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-63536-1

  • Online ISBN: 978-3-319-63537-8

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation