Spherical Dexterous Hand Rolling Structures In-Hand Manipulation
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Solution Overview
Problem
Current robotic grippers face challenges in performing complex in-hand manipulation tasks due to limitations in dexterity, controllability, and stability, with existing designs either being overly complex and expensive or lacking the necessary mobility and control for sophisticated object re-orientation.
Innovation Solution
A robotic hand design featuring fingers with distal rolling structures having two-coupled orthogonal manipulating degrees of freedom, allowing for independent actuation and grasping capabilities, enabling efficient in-hand manipulation without the need for finger gaiting, and incorporating tactile sensors for feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If anthropomorphic hands with high number of degrees of freedom are used, then dexterity for in-hand manipulation is improved, but device complexity and cost increase
Solution Approach 1:
The hand is divided into multiple independent fingers, each with its own rolling structure and actuation system. This segmentation allows each finger to operate independently with simplified mechanics while maintaining overall dexterity through coordinated movement of multiple segments.
Solution Approach 2:
The rolling structures at finger tips provide dynamic manipulation capability, allowing the fingers to adapt their contact points and manipulation directions in real-time. This dynamic approach replaces static, complex mechanical structures with movable, adaptive rolling elements that achieve dexterity through motion rather than fixed geometry.
2Stability of the object's composition
If under-actuated hands are used, then grasp stability is improved, but controllability for in-hand manipulation deteriorates
Solution Approach 1:
The rolling structures enable the fingers to self-adjust their contact points and manipulation directions autonomously. The passive rolling mechanism automatically adapts to object geometry and manipulation requirements, providing both stability through maintained contact and controllability through inherent adaptability without requiring complex active control systems.
Solution Approach 2:
The system changes the manipulation parameters by varying the rolling motion characteristics (direction, speed, pressure) of the finger tips. This allows continuous adjustment of contact forces and manipulation trajectories, providing fine-grained controllability while maintaining grasp stability through regulated rolling parameters.
3Adaptability or versatility
If grippers with active surfaces are used, then in-hand manipulation capability is improved, but device complexity increases due to fixed conveyor orientation
Solution Approach 1:
The rolling structures at finger tips utilize spherical or cylindrical geometries that provide omnidirectional manipulation capability. Unlike fixed-oriented conveyors, the rolling surfaces can contact and manipulate objects from multiple directions simultaneously, achieving versatile manipulation with simpler spherical mechanics rather than complex fixed-direction active surfaces.
Solution Approach 2:
The rolling structures serve multiple functions: they provide grasping contact, enable manipulation through rolling motion, and adapt to various object geometries. This multi-functionality replaces the need for specialized fixed-oriented active surfaces with a universal rolling mechanism that performs all manipulation tasks through a single adaptable structure.
Data Source
AI summary
Structural designs and operational methods for object grasping and within-hand manipulation of an object is provided using rolling structures. The use of rolling structures reduces the need of finger gaiting, which is the periodic relocation of fingers on the object while maintaining a grasp, during manipulation. Embodiments of the invention provide a more efficient method of in-hand manipulation and grasping. In one example, two degrees of freedom rollers allow the object being manipulated in any direction in 3D space while remaining contact with the object.