An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Design of an under-actuated wrist based on adaptive synergies


    Beteiligte:

    Erscheinungsdatum :

    01.01.2017



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Adaptive Synergies: an approach to the design of under-actuated robotic hands

    Grioli, Giorgio / Catalano, Manuel / Silvestro, Emanuele et al. | BASE | 2012

    Freier Zugriff

    An Open-Source Device for Tendon Actuated Wrist Motion

    Pearson, Matthew | BASE | 2017

    Freier Zugriff

    On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies

    Pratichizzo, D / Malvezzi, M / GABICCINI, MARCO et al. | BASE | 2013

    Freier Zugriff

    Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand

    Catalano, M. G. / GRIOLI, GIORGIO / FARNIOLI, EDOARDO et al. | BASE | 2014

    Freier Zugriff

    Aeroelastic Analysis of Actuated Adaptive Wingtips Based on Pressure-Actuated Cellular Structures

    Meyer, Patrick / Hühne, Christian / Bramsiepe, Kjell et al. | DataCite | 2023