1A1-J03 Delicate Object Grasping by Robotic Gripper with Incompressible Fluid Fingers(Robot Hand Mechanism and Grasping Strategy (1))

Abstract

The aim of this paper is grasping very fragile objects. This paper presents grasping strategy for fragile and brittle objects and for fragile and ductile objects, with gripper whose fingertips are constructed from a rubber bag filled with gel, an incompressible fluid. The validities of the approaches were shown by experiments.