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CUSTOMIZABLE SOFT PNEUMATIC GRIPPER DEVICES

LOW JIN HUAT
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Abstract
Grasping and holding is an essential action in activities of daily living. These tasks that seem intuitive to humans are in fact challenging for robots. Traditional robotic gripper devices are usually made of metallic structural components and are often considered as expensive and lacking adaptability. The rigid structural components, which compromise the robot?s versatility, unfortunately render these grippers unsuitable for certain applications. This thesis presents soft robotic gripper devices that broaden the capabilities of current rigid robotic grippers, especially for situations where delicate objects, such as nerves, or objects with various shapes are dealt with. The grippers are equipped with soft gripping components so as to conform and provide compliant gripping without introducing excessive stress to the delicate objects handled. The fascinating properties of soft grippers include lightweight, low components costs, high customizability, and ease of fabrication using available 3D printing techniques.
Keywords
Grasping, Hand Exoskeleton, Soft Robotic, Soft Pneumatic Finger Actuator, Soft Hybrid Nerve Gripper, Compliant Gripping
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Date
2015-06-16
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