IROS 2024poster0 citations
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunić, Amartya Ganguly, Abdalla Swikir
Abstract
Recent advancements in artificial hand development have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive grasping in a human-sized prototype. We propose, an open-source, highly integrated artificial hand. It leverages a compliant linkage mechanism for versatile grasping capabilities, featuring six degrees of actuation and MEMS-based tactile sensors on every fingertip.
BibTeX
@inproceedings{iros2024_opengrasplitever,
title = {OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism},
author = {Sonja Groß and Michael Ratzel and Edgar Welte and Diego Hidalgo-Carvajal and Lingyun Chen and Edmundo Pozo Fortunić and Amartya Ganguly and Abdalla Swikir and Sami Haddadin},
booktitle = {IROS 2024},
year = {2024}
}