Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper

Sumitaka Honji, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A soft gripper whose whole body is made of some soft materials has a possibility to manipulate arbitrarily shaped objects by adapting its shape. The present soft gripper has just been being expected to be utilized in a simple task such as just grasp and release because an accurate control of the shape and grasping force is difficult due to its softness. However, in order to utilize it in wider situations than the present expected situations that it would be utilized, not only such a binary control but also accurate control of its shape and contact forces would be necessary to realize dexterous manipulation tasks. In order to realize such dexterous manipulation, developing a plausible model is important. In this paper, dynamic models of a soft gripper which is driven by one cable are proposed. The proposed models are based on a spring-mass model that is simple but can express the movement of the proposed soft gripper enough. Several identification experiments according to the proposed models are performed using an experimental setup.

Original languageEnglish
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages593-598
Number of pages6
ISBN (Electronic)9781728165707
DOIs
Publication statusPublished - May 2020
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: May 15 2020Jul 15 2020

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
CountryUnited States
CityNew Haven
Period5/15/207/15/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Honji, S., & Tahara, K. (2020). Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper. In 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 (pp. 593-598). [9116009] (2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoboSoft48309.2020.9116009