IROS2022 Presentaion: 1-degree-of-freedom robotic gripper with infinite self-twist function

T. Nishimura, Y. Suzuki, T. Tsuji and T. Watanabe, "1-Degree-of-Freedom Robotic Gripper With Infinite Self-Twist Function," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8447-8454, July 2022, doi: 10.1109/LRA.2022.3187823.
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and twisting motions according to the magnitude of the tip force applied to the finger. The grasping motion is activated when the tip force is below a set value, and the wrist twisting motion is activated when the tip force exceeds this value. “Twist grasping,” a special grasping mode that allows the wrapping of a flexible thin object around the fingers of the gripper, can be achieved by the twisting motion. Twist grasping is effective for handling objects with flexible thin parts, such as laminated packaging pouches, that are difficult to grasp using conventional antipodal grasping. In this study, the gripper design is presented, and twist grasping is analyzed. The gripper performance is experimentally validated.
Index Terms-Grippers and Other End-Effectors, Grasping, Mechanism Design, Underactuated Robots

[@raghulnm7243]

Interesting... It's highly challenging to achieve both gripping and twisting using single motion.... Please make a video with the actual prototype that you have made but without the outer enclosure... It'll much easy to understand when we could actually see the internal gears and other mechanisms operating... Thank you..