Tesi etd-01182022-171716 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
DAL CANTO, SARA
URN
etd-01182022-171716
Titolo
Design, Implementation, and Testing of an under-actuated soft robotic hand prototype able to differentiate between grasps via damping elements
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
Parole chiave
- touch
- finger
- soft
- hand
- grasp
- dynamic
- robotics
Data inizio appello
24/02/2022
Consultabilità
Non consultabile
Data di rilascio
24/02/2062
Riassunto
In this work we study the feasibility of a SoftHand prototype with a flexible palm capable of grasping different types of objects thanks to the presence of a damper that acts on the palm of the hand. In particular, we refer to the Power Grasp (stability grasp in which the object is grasped and held between the palm and the surface of the fingers), to the Lateral Grasp (in which the object is grasped and held between the tip of the thumb and the lateral surface of the index finger) and to the Pinch Grasp (precision grasp in which the object is grasped with the tip of the thumb and index finger).
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