Soft Driving Epicyclical Mechanism for Robotic Finger
Keyword(s):
Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.
2016 ◽
Vol 238
◽
pp. 95-103
◽
1995 ◽
Vol 05
(C8)
◽
pp. C8-973-C8-978
1995 ◽
Vol 05
(C8)
◽
pp. C8-817-C8-822
1995 ◽
Vol 05
(C8)
◽
pp. C8-581-C8-586
◽
Keyword(s):
2003 ◽
Vol 112
◽
pp. 1155-1158
◽
2003 ◽
Vol 112
◽
pp. 963-967
◽
2003 ◽
Vol 112
◽
pp. 615-618
◽
Keyword(s):