The Wavejoints: A Novel Methodology to Design Soft-Rigid Grippers Made by Monolithic 3D Printed Fingers with Adjustable Joint Stiffness
Mihai Dragusanu,Gabriele Maria Achilli,Maria Cristina Valigi,Domenico Prattichizzo,Monica Malvezzi,Gionata Salvietti,Mihai Dragusanu,Gabriele Maria Achilli,Maria Cristina Valigi,Domenico Prattichizzo,Monica Malvezzi,Gionata Salvietti
In this paper, we present a methodology to design soft-rigid grippers able to perform different manipulation tasks. The main idea is the introduction of wave-shaped hinges whose geometrical parameters can be designed to achieve different three-dimensional impedance characteristics. This allows one to use the same tendon-driven actuation to perform different tasks including grasping objects with di...
