Curling Gripper

Austin Epps, Shenli Yuan, Jerome Nowak, and Kenneth Salisbury
(on-going project, participants subject to change)

Overview

A novel design for an under actuated 3-finger hand. The digits provide uniform force distribution along a grasped object's surface. Fingers can be configured in multiple orientations. This design was presented at the Amazon Robotics symposium in October 2019.


Curling behavior

Free space behavior

Cylindrical Object

Constrained spcae

Box strategy

Box strategy

Soft object

Water jug

Teleoperation controller glove