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In our research, we have developed a Gripper with Multi Joint Fingers (MJF) that achieves envelope grasping adapting to shape of objects. In this paper, we discuss grasping motion using two or three MJFs. The MJF has 4 serially connected joints controlled by only two actuators, one for driving all joints at the same time for envelope grasping, the other for controlling the stiffness of every joint...
This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. Proposed mechanism is based on a chain of Differential Gear Systems (DGS) controlled by only one motor. It also has a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interfering effects suffered from grasping environment and achieve a dexterous grasping. The experiments...
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