Human-Robotic Variable-Stiffness Grasps of Small-Fruit Containers Are Successful Even Under Severely Impaired Sensory Feedback

Application areas of robotic grasping extend to delicate objects like groceries. The intrinsic elasticity offered by variable-stiffness actuators (VSA) appears to be promising in terms of being able to adapt to the object shape, to withstand collisions with the environment during the grasp acquisiti...

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Bibliographic Details

Published in:	Frontiers in Neurorobotics
Main Authors:	Mark Haas, Werner Friedl, Georg Stillfried, Hannes Höppner
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2018-10-01
Subjects:	soft manipulation variable impedance variable stiffness grip stiffness surface electromyography (sEMG) force feedback (FF)
Online Access:	https://www.frontiersin.org/article/10.3389/fnbot.2018.00070/full