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Adaptation to various scene configurations and object properties, stabilityand dexterity in robotic grasping manipulation is far from explored. This workpresents an origami-based shape morphing fingertip design to actively tacklethe grasping stability and dexterity problems. The proposed fingertip utilizesorigami as its skeleton providing degrees of freedom at desired positions andmotor-driven four-bar-linkages as its transmission components to achieve acompact size of the fingertip. 3 morphing types that are commonly observed andessential in robotic grasping are studied and validated with geometricalmodeling. Experiments including grasping an object with convex point contact topivot or do pinch grasping, grasped object reorientation, and envelopinggrasping with concave fingertip surfaces are implemented to demonstrate theadvantages of our fingertip compared to conventional parallel grippers.Multi-functionality on enhancing grasping stability and dexterity via activeadaptation given different grasped objects and manipulation tasks arejustified. Video is available at youtu.be/jJoJ3xnDdVk/.

Origami-based Shape Morphing Fingertip to Enhance Grasping Stability and Dexterity