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An origami-inspired variable friction surface for increasing the dexterity of robotic grippers

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Title: An origami-inspired variable friction surface for increasing the dexterity of robotic grippers
Authors: Lu, Q
Clark, A
Shen, M
Rojas, N
Item Type: Journal Article
Abstract: While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between the grasped object and the gripper. For instance, human hands have the ability to firmly grip object surfaces, as well as slide over object faces, an aspect that aids the enhanced manipulation of objects within the hand without losing contact. In this letter, we present a parametric, origami-inspired thin surface capable of transitioning between a high friction and a low friction state, suitable for implementation as an epidermis in robotic fingers. A numerical analysis of the proposed surface based on its design parameters, force analysis, and performance in in-hand manipulation tasks is presented. Through the development of a simple two-fingered two-degree-of-freedom gripper utilizing the proposed variable-friction surfaces with different parameters, we experimentally demonstrate the improved manipulation capabilities of the hand when compared to the same gripper without changeable friction. Results show that the pattern density and valley gap are the main parameters that effect the in-hand manipulation performance. The origami-inspired thin surface with a higher pattern density generated a smaller valley gap and smaller height change, producing a more stable improvement of the manipulation capabilities of the hand.
Issue Date: 1-Apr-2020
Date of Acceptance: 27-Jan-2020
URI: http://hdl.handle.net/10044/1/77352
DOI: 10.1109/lra.2020.2972833
ISSN: 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 2538
End Page: 2545
Journal / Book Title: IEEE Robotics and Automation Letters
Volume: 5
Issue: 2
Copyright Statement: © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R020833/1
Keywords: 0913 Mechanical Engineering
Publication Status: Published
Online Publication Date: 2020-02-10
Appears in Collections:Dyson School of Design Engineering