In this work, we propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon-driven, underactuated and passively compliant hands composed of deformable joints and rigid links. Specific stiffness and pre-form shapes can be assigned to the finger joints can be given s such that a single-cable actuation can be used. We firstly define a procedure to determine suitable joints stiffness and then we propose a possible realization of soft joints using rapid prototyping techniques. The stiffness computation is obtained leveraging on the the mechanics of tendon-driven hands and on compliant systems, while for its implementation beam theory has been exploited. We validate the proposed framework both in simulation and with experiments using the robotic Soft-SixthFinger, a wearable robot for grasping compensation in patients with a paretic hand, as a case study. The proposed framework can be used to design the stiffness of the passive joints in several model of underactuated tendon-driven soft hands so to improve their grasping capabilities.


    Access

    Download


    Export, share and cite



    Title :

    On the role of stiffness design for fingertip trajectories of underactuated modular soft hands



    Publication date :

    2017-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Design of the passive joints of underactuated modular soft hands for fingertip trajectory tracking

    SALVIETTI, GIONATA / HUSSAIN, IRFAN / MALVEZZI, MONICA et al. | BASE | 2017

    Free access

    Simulation and design of underactuated mechanical hands

    Laliberté, Thierry | Online Contents | 1998


    Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

    Tonan M. / Doria A. / Bottin M. et al. | BASE | 2023

    Free access

    Grasp Analysis Tools for Synergistic Underactuated Robotic Hands

    GABICCINI, MARCO / FARNIOLI, EDOARDO / BICCHI, ANTONIO | BASE | 2013

    Free access