Eom Jaemin, Yu Sung Yol, Kim Woongbae, Park Chunghoon, Lee Kristine Yoonseo, Cho Kyu-Jin
Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea.
Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology (KIST), Seoul 02792, Republic of Korea.
Sci Robot. 2024 Dec 11;9(97):eado3939. doi: 10.1126/scirobotics.ado3939.
Humans use their dexterous fingers and adaptable palm in various multiobject grasping strategies to efficiently move multiple objects together in various situations. Advanced manipulation skills, such as finger-to-palm translation and palm-to-finger translation, enhance the dexterity in multiobject grasping. These translational movements allow the fingers to transfer the grasped objects to the palm for storage, enabling the fingers to freely perform various pick-and-place tasks while the palm stores multiple objects. However, conventional grippers, although able to handle multiple objects simultaneously, lack this integrated functionality, which combines the palm's storage with the fingers' precise placement. Here, we introduce a gripper for multiobject grasping that applies translational movements of fingertips to leverage the synergistic use of fingers and the palm for enhanced pick-and-place functionality. The proposed gripper consists of four fingers and an adaptive conveyor palm. The fingers sequentially grasp and transfer objects to the palm, where the objects are stored simultaneously, allowing the gripper to move multiple objects at once. Furthermore, by reversing this process, the fingers retrieve the stored objects and place them one by one in the desired position and orientation. A finger design for simple object translating and a palm design for simultaneous object storing were proposed and validated. In addition, the time efficiency and pick-and-place capabilities of the developed gripper were demonstrated. Our work shows the potential of finger translation to enhance functionality and broaden the applicability of multiobject grasping.
人类在各种多物体抓取策略中运用其灵巧的手指和适应性强的手掌，以便在各种情况下高效地一起移动多个物体。先进的操作技能，如手指到手掌的转换和手掌到手指的转换，增强了多物体抓取的灵活性。这些平移运动使手指能够将抓取的物体转移到手掌中进行存储，从而使手指能够在手掌存储多个物体的同时自由地执行各种拾取和放置任务。然而，传统的抓取器虽然能够同时处理多个物体，但缺乏这种将手掌存储与手指精确放置相结合的集成功能。在此，我们介绍一种用于多物体抓取的抓取器，它应用指尖的平移运动，以利用手指和手掌的协同作用来增强拾取和放置功能。所提出的抓取器由四个手指和一个自适应输送手掌组成。手指依次抓取物体并将其转移到手掌中，物体在手掌中同时存储，从而使抓取器能够一次移动多个物体。此外，通过逆转这个过程，手指可以取回存储的物体并将它们一个一个地放置在所需的位置和方向。提出并验证了一种用于简单物体平移的手指设计和一种用于同时存储物体的手掌设计。此外，还展示了所开发抓取器的时间效率和拾取与放置能力。我们的工作展示了手指平移在增强功能和拓宽多物体抓取适用性方面的潜力。
