The Role of Digit Arrangement in Soft Robotic In-Hand Manipulation
Clark B. Teeple,Randall C. St. Louis,Moritz A. Graule,Robert J. Wood,Clark B. Teeple,Randall C. St. Louis,Moritz A. Graule,Robert J. Wood
The need for robotic hands capable of gentle in-hand manipulation is growing rapidly as robots enter the real world. In this work, we show that the arrangement of digits in a soft robotic hand has a strong effect on in-hand manipulation capabilities. Introducing task-based performance metrics which quantify the range of motion, repeatability, and accuracy of in-hand manipulation tasks, we investig...
