TacFR-Gripper: A Reconfigurable Fin-Ray-Based Gripper with Tactile Skin for In-Hand Manipulation

TacFR-Gripper: A Reconfigurable Fin-Ray-Based Gripper with Tactile Skin for In-Hand Manipulation

This paper introduces the TacFR-Gripper, a novel reconfigurable soft robotic gripper inspired by the Fin-Ray effect and equipped with tactile skin. The gripper incorporates a four-bar mechanism for accurate finger bending and a reconfigurable design to change the relative positions between the finge...

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Bibliographic Details
Main Authors: Qingzheng Cong, Wen Fan, Dandan Zhang
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Actuators
Subjects:
in-hand manipulation
tactile perception
soft robotic hand
Online Access:https://www.mdpi.com/2076-0825/13/12/521
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