A Compact, Cable-driven, Activatable Soft Wrist with Six Degrees of Freedom for Assembly Tasks
Felix von Drigalski,Kazutoshi Tanaka,Masashi Hamaya,Robert Lee,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri,Felix von Drigalski,Kazutoshi Tanaka,Masashi Hamaya,Robert Lee,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri
Physical softness has been proposed to absorb impacts when establishing contact with a robot or its workpiece, to relax control requirements and improve performance in assembly and insertion tasks. Previous work has focused on special end effector solutions for isolated tasks, such as the peg-in-hole task. However, as many robot tasks require the precision of rigid robots, and their performance wo...
