A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing
Hareesh Godaba,Aqeel Sajad,Navin Patel,Kaspar Althoefer,Ketao Zhang,Hareesh Godaba,Aqeel Sajad,Navin Patel,Kaspar Althoefer,Ketao Zhang
This paper presents a novel approach for developing robotic grippers with variable stiffness hinges for dexterous grasps. This approach for the first time uses pneumatically actuated pouch actuators to fold and unfold morphable flaps of flexure hinges thus change stiffness of the hinge. By varying the air pressure in pouch actuators, the flexure hinge morphs into a beam with various open sections ...
