Multi-Dimensional Compliance of Soft Grippers Enables Gentle Interaction with Thin, Flexible Objects
Clark B. Teeple,Justin Werfel,Robert J. Wood,Clark B. Teeple,Justin Werfel,Robert J. Wood
In this paper, we discuss the role of gripper compliance in successful grasping and manipulation of thin, flexible materials. We show, both conceptually and empirically, that each axis of compliance in a planar gripper provides unique benefits in this domain. Vertical compliance allows robust grasping of thin materials in the presence of large uncertainty in positioning. Lateral compliance increas...
