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ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration

Friedl, Werner and Höppner, Hannes and Roa Garzon, Máximo Alejandro and Grebenstein, Markus (2016) ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration. IROS 2016 --- Workshop "Evaluation and Benchmarking of Underactuated and Soft Robotic Hands", 9.-14. Okt. 2016, Daejeon, Korea.

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Abstract

The use of environmental constraints in manipulation helps the human to compensate for uncertainties in his world model. Recently, the same principle has started to be applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE). With the aim of having a standard method to compare the ability of soft robotic fingers or hands to use ECE, we have constructed the ECE testbed. The testbed can provide information about the correct stiffness of the finger actuation and the necessary wrist motion to fulfill the ECE task. Thanks to the use of rapid prototyping technology and standard components, the testbed is a robust and cheap platform for grasping experimentation. ECE tasks that can be performed on the testbed include: Slide finger over a surface to an object, slide an object to good grasp position and flip object. Also, the testbed allows lifting a grasped object, which helps in the evaluation of grasp stability. The testbed has embedded sensor equipment that helps to measure accuracy and reaction forces on the fingers/hands.

Item URL in elib:https://elib.dlr.de/118950/
Document Type:Conference or Workshop Item (Poster)
Title:ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Friedl, WernerWerner.Friedl (at) dlr.deUNSPECIFIED
Höppner, HannesHannes.Hoeppner (at) dlr.dehttps://orcid.org/0000-0003-3184-7653
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Date:9 October 2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Robotic Hand Benchmarking, Soft Robotic Hands, Variable Stiffness Robotics
Event Title:IROS 2016 --- Workshop "Evaluation and Benchmarking of Underactuated and Soft Robotic Hands"
Event Location:Daejeon, Korea
Event Type:Workshop
Event Dates:9.-14. Okt. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Höppner, Hannes
Deposited On:14 Feb 2018 12:47
Last Modified:31 Jul 2019 20:16

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