The Double-Scoop Gripper: A Tendon-Driven Soft-Rigid End-Effector for Food Handling Exploiting Constraints in Narrow Spaces
Leonardo Franco,Enrico Turco,Valerio Bo,Maria Pozzi,Monica Malvezzi,Domenico Prattichizzo,Gionata Salvietti,Leonardo Franco,Enrico Turco,Valerio Bo,Maria Pozzi,Monica Malvezzi,Domenico Prattichizzo,Gionata Salvietti
Food handling is a challenging task for robotic grippers, as it requires to manipulate highly deformable and fragile items, that can be easily damaged. Moreover, ingredients for the preparation of the different dishes are usually stored in small containers that are often not easily accessible. This paper introduces an innovative soft-rigid, tendon-driven gripper: the Double-Scoop Gripper (DSG). It...
