Date of Award
5-2022
Document Type
Thesis
Degree Name
Master of Science in Engineering (MSE)
Department
Electrical and Computer Engineering
Committee Chair/Advisor
Dr. Ian Walker
Committee Member
Dr. Richard Groff
Committee Member
Dr. Apoorva Kapadia
Abstract
We discuss the potential of soft webs to enhance robotic grasping. Specifically, we explore a novel combination of compliant continuum digits interspersed with a flexible material. The resulting webbed structure offers the potential for new modes of robust and adaptive object grasping. We introduce and describe two webbed grippers featuring alternate modes of actuation: pneumatic muscles and remotely actuated tendons. Experiments with the grippers demonstrate their ability to gently capture small, fragile, and non-cooperative objects.
Recommended Citation
Carambia, Anthony, "Soft Web-Based Continuum Robot Grippers" (2022). All Theses. 3814.
https://tigerprints.clemson.edu/all_theses/3814