TY - GEN
T1 - A Bistable Underactuated Finger with Reconfigurable Grasping Modes
AU - Nelson, Carl A.
N1 - Funding Information:
ACKNOWLEDGMENT The author acknowledges support from the UNL College of Engineering and helpful feedback from students in the Department of Mechanical and Materials Engineering.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/28
Y1 - 2018/8/28
N2 - This paper presents a bistable finger design for grasping, with the bistability property lending itself to reconfiguration from a preferred pinch grasp to a preferred power (enveloping) grasp. This allows selective triggering of the transition between these two grasp types to prevent loss of stable grasp. Design, analysis, simulation, and prototyping of the grasping mechanism are presented.
AB - This paper presents a bistable finger design for grasping, with the bistability property lending itself to reconfiguration from a preferred pinch grasp to a preferred power (enveloping) grasp. This allows selective triggering of the transition between these two grasp types to prevent loss of stable grasp. Design, analysis, simulation, and prototyping of the grasping mechanism are presented.
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U2 - 10.1109/REMAR.2018.8449860
DO - 10.1109/REMAR.2018.8449860
M3 - Conference contribution
AN - SCOPUS:85053863097
SN - 9781538663806
T3 - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
BT - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
A2 - Herder, Just L.
A2 - van der Wijk, Volkert
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Y2 - 20 June 2018 through 22 June 2018
ER -