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compliance realization

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Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers
Shuguang Huang, Joseph M. Schimmels
Journal:

Robotica / Volume 41 / Issue 2 / February 2023

Published online by Cambridge University Press:

10 October 2022, pp. 587-608
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In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.