ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-01182022-171716

Tipo di tesi

Tesi di laurea magistrale

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

Parole chiave

dynamic
finger
grasp
hand
robotics
soft
touch

Data inizio appello

24/02/2022

Consultabilità

Non consultabile

Data di rilascio

24/02/2062

Riassunto (Inglese)

Riassunto (Italiano)

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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