Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction | Zendy

Hannah Stuart | Zendy; Shiquan Wang | Zendy; Mark R. Cutkosky | Zendy

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Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

Author(s) -

Hannah Stuart,

Shiquan Wang,

Mark R. Cutkosky

Publication year - 2018

Publication title -

ieee transactions on robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 2.027

H-Index - 159

eISSN - 1941-0468

pISSN - 1552-3098

DOI - 10.1109/tro.2018.2880094

Subject(s) - grasp , suction cup , suction , computer science , simulation , mechanics , robot , volumetric flow rate , flow (mathematics) , mechanical engineering , artificial intelligence , engineering , physics , programming language

Gentle suction flow at the fingertips of a compliant hand can enhance object acquisition and increase the robustness of pinch grasps under water. The approach adds a low-pressure pump and flexible tubes that terminate at the distal phalanges. The light flow rate does not create a powerful suction force, nor does it stir up significant sediment. The method works on porous and rough objects in addit...

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