Abstract
This paper proposes a novel robotic hand that can grasp objects of various shapes used for assembly tasks. The proposed hand uses granular jamming combined with a multiple finger mechanism. Due to the effect of granular jamming, the pose of a grasped object does not change during an assembly operation. The proposed hand has four fingers where two are active ones and the other two are passive ones. We use the passive fingers to orient an object placed on a table before the active fingers are closed to grasp it. The active fingers can adapt to the shape of an object due to its underactuated mechanism. Experimental results on assembly of two kind of parts are shown to validate the effectiveness of our proposed hand.
