Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation
Soft grippers perform various handling tasks using passive conformability. This article reviews the improvements in their capabilities of dexterous manipulations, including how they achieve dexterity and how their performance could be evaluated. This article particularly points out the correlations...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/1/275 |
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| author | Manuela Otti Daniel Monsalve Frédéric Chapelle Chedli Bouzgarrou Yuri Lapusta |
| author_facet | Manuela Otti Daniel Monsalve Frédéric Chapelle Chedli Bouzgarrou Yuri Lapusta |
| author_sort | Manuela Otti |
| collection | DOAJ |
| description | Soft grippers perform various handling tasks using passive conformability. This article reviews the improvements in their capabilities of dexterous manipulations, including how they achieve dexterity and how their performance could be evaluated. This article particularly points out the correlations between potential and real dexterity, and the relationship between the space of degrees of freedom and the corresponding dexterity level. Our main contribution is the proposition of a uniform framework for the characterization of soft grippers and their performance. We first present an introduction to soft grippers and those capable of in-hand manipulation. We emphasize their hybridization by combining soft and rigid materials or using several active materials. Next, we define and discuss the manipulation tasks and how to achieve dexterity, making a distinction between stable grasping and stable in-hand manipulation. We finally discuss the means to achieve assessment and how the performance can be evaluated, and we develop a general exploitable approach for characterizing soft grippers and their dexterous performance based on their architecture, DOF space, and physical performance. |
| format | Article |
| id | doaj-art-fdff90e36d4445578b3eb6e723ee8a4b |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-fdff90e36d4445578b3eb6e723ee8a4b2025-01-10T13:15:00ZengMDPI AGApplied Sciences2076-34172024-12-0115127510.3390/app15010275Recent Improvements in the Development of Soft Grippers Capable of Dexterous ManipulationManuela Otti0Daniel Monsalve1Frédéric Chapelle2Chedli Bouzgarrou3Yuri Lapusta4Clermont Auvergne INP, Institut Pascal, CNRS, Université Clermont Auvergne, 63000 Clermont-Ferrand, FranceClermont Auvergne INP, Institut Pascal, CNRS, Université Clermont Auvergne, 63000 Clermont-Ferrand, FranceClermont Auvergne INP, Institut Pascal, CNRS, Université Clermont Auvergne, 63000 Clermont-Ferrand, FranceClermont Auvergne INP, Institut Pascal, CNRS, Université Clermont Auvergne, 63000 Clermont-Ferrand, FranceClermont Auvergne INP, Institut Pascal, CNRS, Université Clermont Auvergne, 63000 Clermont-Ferrand, FranceSoft grippers perform various handling tasks using passive conformability. This article reviews the improvements in their capabilities of dexterous manipulations, including how they achieve dexterity and how their performance could be evaluated. This article particularly points out the correlations between potential and real dexterity, and the relationship between the space of degrees of freedom and the corresponding dexterity level. Our main contribution is the proposition of a uniform framework for the characterization of soft grippers and their performance. We first present an introduction to soft grippers and those capable of in-hand manipulation. We emphasize their hybridization by combining soft and rigid materials or using several active materials. Next, we define and discuss the manipulation tasks and how to achieve dexterity, making a distinction between stable grasping and stable in-hand manipulation. We finally discuss the means to achieve assessment and how the performance can be evaluated, and we develop a general exploitable approach for characterizing soft grippers and their dexterous performance based on their architecture, DOF space, and physical performance.https://www.mdpi.com/2076-3417/15/1/275soft graspinghybridizationsoft manipulationdexterity leveldexterous evaluation |
| spellingShingle | Manuela Otti Daniel Monsalve Frédéric Chapelle Chedli Bouzgarrou Yuri Lapusta Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation Applied Sciences soft grasping hybridization soft manipulation dexterity level dexterous evaluation |
| title | Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation |
| title_full | Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation |
| title_fullStr | Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation |
| title_full_unstemmed | Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation |
| title_short | Recent Improvements in the Development of Soft Grippers Capable of Dexterous Manipulation |
| title_sort | recent improvements in the development of soft grippers capable of dexterous manipulation |
| topic | soft grasping hybridization soft manipulation dexterity level dexterous evaluation |
| url | https://www.mdpi.com/2076-3417/15/1/275 |
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