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- W4386702958 abstract "We present a novel design for a multi-fingered robotic gripper, featuring underactuation and fiber-optically sensorized tendons for force sensing, inspired by the Golgi tendon organs found in biological muscles. Our robotic gripper comprises three rigid fingers, each with three joints: the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP). To enable flexion and extension of the fingers, each is actuated by a combination of two types of tendons: an active tendon and three passive tendons. The active tendon is a single-mode optical fiber with an embedded fiber Bragg grating (FBG) that detects the tension of the fiber during the gripper's grasping motions. Meanwhile, three elastic passive tendons made of soft elastomer and located on the dorsal side of the finger retract the finger to its initial extended position once the active tendon is released. By measuring the wavelength shift of the FBG, which is caused by the strain applied to the fiber-optic tendon, we can convert it to force and use it for grasping force control. Our proposed gripper is tested with objects of varying stiffness and demonstrates the force-sensing capability of the sensorized tendons." @default.
- W4386702958 created "2023-09-14" @default.
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- W4386702958 date "2023-11-01" @default.
- W4386702958 modified "2023-10-10" @default.
- W4386702958 title "Underactuated Robotic Gripper with Fiber-Optic Force Sensing Tendons" @default.
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- W4386702958 doi "https://doi.org/10.1109/lra.2023.3315204" @default.
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