Abstract
Integration of compliance into the Robotics hands proved to enhance the functionality of under-actuated hands for prosthetic or industrial applications. An appropriate design of the finger geometry with compliant joints allows the fingers to adapt to the shape of the object, and the soft and compliant skin allows for a higher contact area and contact friction. In this article, we describe how these properties were exploited for the development of compliant hands that are simple, efficient and easy to control. We also discuss integration of soft pressure and bending sensors into the digits of these hands.
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Acknowledgement
This research was supported by the Carnegie Mellon Portugal program and the Foundation of Science and Technology of Portugal under the contract CMUP-ERI/TIC/0021/2014.
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Tavakoli, M., Rocha, R.P., Lourenço, J., Lu, T., Majidi, C. (2017). Soft Bionics Hands with a Sense of Touch Through an Electronic Skin. In: Laschi, C., Rossiter, J., Iida, F., Cianchetti, M., Margheri, L. (eds) Soft Robotics: Trends, Applications and Challenges. Biosystems & Biorobotics, vol 17. Springer, Cham. https://doi.org/10.1007/978-3-319-46460-2_2
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DOI: https://doi.org/10.1007/978-3-319-46460-2_2
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