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Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Huezo Martin, Ana Elvira and Meenakshi Sundaram, Ashok and Friedl, Werner and Ruiz Garate, Virginia and Roa Garzon, Máximo Alejandro (2023) Task-Oriented Stiffness Setting for a Variable Stiffness Hand. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023. IEEE. 40th IEEE International Conference on Robotics and Automation, 29 May - 03 June 2023, London, UK. doi: 10.1109/ICRA48891.2023.10161053. ISBN 979-835032365-8. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/10161053


The integration of variable stiffness actuators (VSA) in robotic systems endows them with intrinsic flexibility and therefore robustness to unknown disturbances. However, this characteristic presents a challenge: choosing the best intrinsic stiffness setting guaranteeing the required force application capability while keeping the system as adaptable to uncertainties as possible. This paper proposes a method to set the optimal stiffness for a multi-finger VSA hand to perform a desired manipulation task. The task is generically represented as a force (with unknown magnitude) applied along a reference direction. According to the force application's direction and the hand's kinematic state, the fingers assume a certain role to split the collective force application. We employ the endpoint stiffness ellipsoid to analyze the required finger stiffness to fulfill the task. We evaluate the optimized stiffness settings in a door opening application with an iterative adaption of the stiffness behavior to handle the unknown force requirement. The results show a successful collective behavior of the fingers, where the stiffness setting considers a task-oriented force-adaptability trade-off and effective use of independent VSA fingers.

Item URL in elib:https://elib.dlr.de/194883/
Document Type:Conference or Workshop Item (Speech)
Title:Task-Oriented Stiffness Setting for a Variable Stiffness Hand
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Huezo Martin, Ana ElviraUNSPECIFIEDhttps://orcid.org/0000-0003-4127-7762UNSPECIFIED
Meenakshi Sundaram, AshokUNSPECIFIEDhttps://orcid.org/0000-0001-9201-6947UNSPECIFIED
Friedl, WernerUNSPECIFIEDhttps://orcid.org/0000-0003-3002-7274UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:4 July 2023
Journal or Publication Title:2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Variable Stiffness Actuators, VSA Hands, CLASH, Stiffness Optimization, Stiffness Planning, Manipulation
Event Title:40th IEEE International Conference on Robotics and Automation
Event Location:London, UK
Event Type:international Conference
Event Dates:29 May - 03 June 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Huezo Martin, Ana Elvira
Deposited On:28 Apr 2023 22:01
Last Modified:21 Sep 2023 22:09

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