NDLI: ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration

Please wait, while we are loading the content...

ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration

Content Provider	Semantic Scholar
Author	Friedl, Werner Höppner, Hannes Garzón, Máximo Alejandro Roa Grebenstein, Markus
Copyright Year	2016
Abstract	The use of environmental constraints in manipulation helps the human to compensate for uncertainties in his world model. Recently, the same principle has started to be applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE). With the aim of having a standard method to compare the ability of soft robotic fingers or hands to use ECE, we have constructed the ECE testbed. The testbed can provide information about the correct stiffness of the finger actuation and the necessary wrist motion to fulfill the ECE task. Thanks to the use of rapid prototyping technology and standard components, the testbed is a robust and cheap platform for grasping experimentation. ECE tasks that can be performed on the testbed include: Slide finger over a surface to an object, slide an object to good grasp position and flip object. Also, the testbed allows lifting a grasped object, which helps in the evaluation of grasp stability. The testbed has embedded sensor equipment that helps to measure accuracy and reaction forces on the fingers/hands.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://clem.dii.unisi.it/~malvezzi/graspquality/wp-content/uploads/2016/05/final_07-WF_poster.pdf
Alternate Webpage(s)	https://elib.dlr.de/118950/1/__Rm-samba01_userdir_hoep_ha_09_Literatur_DLR_Friedl%20WHISG_iros2016_ece_testbed.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in