Date of Award
Master of Science in Engineering (MSE)
Electrical and Computer Engineering
Dr. Ian Walker
Dr. Richard Groff
Dr. Apoorva Kapadia
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.
Carambia, Anthony, "Soft Web-Based Continuum Robot Grippers" (2022). All Theses. 3814.