Development of soft gripper for dexterous manipulation
A parallel underactuated tendon driven gripper with hydraulic knuckles as variable stiffness joints
A parallel underactuated tendon driven gripper with hydraulic knuckle acting as variable stiffness joint (VSJ) was fabricated to study the effects of changing the joint stiffness on grasp primitive and grasp strength. Refer to the paper for the details of the gripper fabrication, experimental setup and results.
Parallel tendon driven gripper with hydraulic knuckle as VSJs
Gripper performing different grasp primitives: wrap (top left) and pinch (top right), experimental setup for finger kinematic study (bottom)