PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation
Ian H. Taylor,Nikhil Chavan-Dafle,Godric Li,Neel Doshi,Alberto Rodriguez,Ian H. Taylor,Nikhil Chavan-Dafle,Godric Li,Neel Doshi,Alberto Rodriguez
We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., braked) phases. Our design allows controlled high-bandwidth (5 Hz) phase transitions independent of the grasping force for manipulation of a variety of ...
