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Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand

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@article{IJASEIT2526,
   author = {Elango Natarajan and Mahmud Iwan Solihin and Jeunn Hao Chong},
   title = {Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand},
   journal = {International Journal on Advanced Science, Engineering and Information Technology},
   volume = {7},
   number = {5},
   year = {2017},
   pages = {1627--1631},
   keywords = {multifingered hand; isotropic hand; soft manipulation; prehension; grasp stability},
   abstract = {

Grasp stability is considered to be an important aspect in object manipulation of a multifingered robot hand. Multifingered hand contacts the object at some arbitrary locations during the object manipulation and applies the gripping force to hold and manipulate the object without slip. It is desirable to use the optimum gripping force during the grasp manipulation for two reasons; firstly, to prevent the object from damages, secondly, to decrease the cost of the manipulation. With these objectives in mind, a three-fingered soft hand is designed, and gripping force and stability analysis are done experimentally. DC motors are used to actuate the joints of fingers and force sensors are used to measure the internal force at contact points. PID controller is used to controlling the internal force exerted at the contact points, and the control parameters are tweaked until a satisfactory response is achieved. The minimum gripping force required to handle the object with / without external disturbances is measured. The position variables and frictional coefficients are evaluated from the contact forces at the contact points. In future, the optimization algorithm will be integrated to carry out these tasks in constrained and unconstrained environments. 

},    issn = {2088-5334},    publisher = {INSIGHT - Indonesian Society for Knowledge and Human Development},    url = {http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2526},    doi = {10.18517/ijaseit.7.5.2526} }

EndNote

%A Natarajan, Elango
%A Solihin, Mahmud Iwan
%A Chong, Jeunn Hao
%D 2017
%T Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand
%B 2017
%9 multifingered hand; isotropic hand; soft manipulation; prehension; grasp stability
%! Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand
%K multifingered hand; isotropic hand; soft manipulation; prehension; grasp stability
%X 

Grasp stability is considered to be an important aspect in object manipulation of a multifingered robot hand. Multifingered hand contacts the object at some arbitrary locations during the object manipulation and applies the gripping force to hold and manipulate the object without slip. It is desirable to use the optimum gripping force during the grasp manipulation for two reasons; firstly, to prevent the object from damages, secondly, to decrease the cost of the manipulation. With these objectives in mind, a three-fingered soft hand is designed, and gripping force and stability analysis are done experimentally. DC motors are used to actuate the joints of fingers and force sensors are used to measure the internal force at contact points. PID controller is used to controlling the internal force exerted at the contact points, and the control parameters are tweaked until a satisfactory response is achieved. The minimum gripping force required to handle the object with / without external disturbances is measured. The position variables and frictional coefficients are evaluated from the contact forces at the contact points. In future, the optimization algorithm will be integrated to carry out these tasks in constrained and unconstrained environments. 

%U http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2526 %R doi:10.18517/ijaseit.7.5.2526 %J International Journal on Advanced Science, Engineering and Information Technology %V 7 %N 5 %@ 2088-5334

IEEE

Elango Natarajan,Mahmud Iwan Solihin and Jeunn Hao Chong,"Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand," International Journal on Advanced Science, Engineering and Information Technology, vol. 7, no. 5, pp. 1627-1631, 2017. [Online]. Available: http://dx.doi.org/10.18517/ijaseit.7.5.2526.

RefMan/ProCite (RIS)

TY  - JOUR
AU  - Natarajan, Elango
AU  - Solihin, Mahmud Iwan
AU  - Chong, Jeunn Hao
PY  - 2017
TI  - Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand
JF  - International Journal on Advanced Science, Engineering and Information Technology; Vol. 7 (2017) No. 5
Y2  - 2017
SP  - 1627
EP  - 1631
SN  - 2088-5334
PB  - INSIGHT - Indonesian Society for Knowledge and Human Development
KW  - multifingered hand; isotropic hand; soft manipulation; prehension; grasp stability
N2  - 

Grasp stability is considered to be an important aspect in object manipulation of a multifingered robot hand. Multifingered hand contacts the object at some arbitrary locations during the object manipulation and applies the gripping force to hold and manipulate the object without slip. It is desirable to use the optimum gripping force during the grasp manipulation for two reasons; firstly, to prevent the object from damages, secondly, to decrease the cost of the manipulation. With these objectives in mind, a three-fingered soft hand is designed, and gripping force and stability analysis are done experimentally. DC motors are used to actuate the joints of fingers and force sensors are used to measure the internal force at contact points. PID controller is used to controlling the internal force exerted at the contact points, and the control parameters are tweaked until a satisfactory response is achieved. The minimum gripping force required to handle the object with / without external disturbances is measured. The position variables and frictional coefficients are evaluated from the contact forces at the contact points. In future, the optimization algorithm will be integrated to carry out these tasks in constrained and unconstrained environments. 

UR - http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2526 DO - 10.18517/ijaseit.7.5.2526

RefWorks

RT Journal Article
ID 2526
A1 Natarajan, Elango
A1 Solihin, Mahmud Iwan
A1 Chong, Jeunn Hao
T1 Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand
JF International Journal on Advanced Science, Engineering and Information Technology
VO 7
IS 5
YR 2017
SP 1627
OP 1631
SN 2088-5334
PB INSIGHT - Indonesian Society for Knowledge and Human Development
K1 multifingered hand; isotropic hand; soft manipulation; prehension; grasp stability
AB 

Grasp stability is considered to be an important aspect in object manipulation of a multifingered robot hand. Multifingered hand contacts the object at some arbitrary locations during the object manipulation and applies the gripping force to hold and manipulate the object without slip. It is desirable to use the optimum gripping force during the grasp manipulation for two reasons; firstly, to prevent the object from damages, secondly, to decrease the cost of the manipulation. With these objectives in mind, a three-fingered soft hand is designed, and gripping force and stability analysis are done experimentally. DC motors are used to actuate the joints of fingers and force sensors are used to measure the internal force at contact points. PID controller is used to controlling the internal force exerted at the contact points, and the control parameters are tweaked until a satisfactory response is achieved. The minimum gripping force required to handle the object with / without external disturbances is measured. The position variables and frictional coefficients are evaluated from the contact forces at the contact points. In future, the optimization algorithm will be integrated to carry out these tasks in constrained and unconstrained environments. 

LK http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=2526 DO - 10.18517/ijaseit.7.5.2526