Kineto-Elasto-Static Design of Underactuated Chopstick-Type Gripper Mechanism for Meal-Assistance Robot

Kineto-Elasto-Static Design of Underactuated Chopstick-Type Gripper Mechanism for Meal-Assistance Robot

Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with...

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Bibliographic Details
Main Authors:	Tomohiro Oka, Jorge Solis, Ann-Louise Lindborg, Daisuke Matsuura, Yusuke Sugahara, Yukio Takeda
Format:	Article
Language:	English
Published:	MDPI AG 2020-06-01
Series:	Robotics
Subjects:	mechanism design meal-assistance robot chopstick-type gripper under-actuated mechanism kineto-elasto-static analysis grasp planning
Online Access:	https://www.mdpi.com/2218-6581/9/3/50

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