Towards a variable compliance hydrostatic skeleton inspired gripper

Giannaccini, M. E., Zheng, Y., Dogramadzi, S. and Pipe, A. G. (2012) Towards a variable compliance hydrostatic skeleton inspired gripper. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012, Rome, Italy, 24-27 June 2012., pp. 246-251 Available from:

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Variable compliance is a subject of great interest in the robotics community, particularly in the area of Human-Robot interaction. In this work, variable compliance is achieved in a novel grasping device inspired by the hydrostatic skeletons of invertebrates. This is accomplished passively, relying on material properties and innovative prototype design. The design will be described and its behavior evaluated through a series of experiments. It will also be shown that a prototype with a very simple design is able to grasp the object with little active control.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:hydrostatic skeleton, gripper
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:25727
Deposited By: Professor S. Dogramadzi
Deposited On:10 Jun 2015 14:47
Last Modified:09 Jun 2016 11:32

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