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Purdue University

Dr. Richard Voyles' Grasping Research

Grasping Research


The Collaborative Systems Lab engages in a variety of Grasping-related research at both the macro scale and micro scale.

Grasping Hardware

Piezoelectric Microgripper Tendon-Driven Hand
This multi-degree-of-freedom micro/macro-actuating gripper is used for force- and vision-based assembly and investigation into the basic behavior of materials during attachment (such as with solder or UV epoxy). This planar, two-fingered, four degrees-of-freedom hand is tendon driven and suitable for mounting on a PUMA or equivalent robot.
We have developed a variety of fingertips of different materials, including tactile sensors (see below).
TerminatorBot holding Scout Robot
TerminatorBot holding Scout Robot
The TerminatorBot is a palm-top robot that can both locomote and manipulate with its two articulated limbs. Here, it lifts a small wheeled robot (The Scout) into a stealthy hiding place that the Scout cannot otherwise access.
The TerminatorBot has force/torque sensors embedded in its elbows. The novel design of these sensors allows them to transduce three components of the 6-axis force/torque vector at the tip of the arm with nearly isotropic sensitivity.
Modular Tactile Sensors
We have developed a variety of intrinsic and extrinsic tactile sensors for both humans and robots. Intrinsic tactile sensors trasnduce net force vectors like a traditional multi-axis force sensor. Extrinsic tactile sensors transduce a tactile image. The sensor pictured is modular and is suitable for a robotic hand or other mechanical device. It combines both intrinsic and extrinsic sensors in a single unit. The extrinsic sensor makes novel use of an electrorheological fluid for sensing and even actuation.

Grasping Software

  • TermGrasp-VS

Publications

Copyright: © 2002-2003,2019 by Richard Voyles


rvoyles [at] purdue [dot] edu

Purdue University, West Lafayette, IN 47907, (765) 494-4600