Abstract
This paper describes a high-speed manipulation by using an underactuated robot finger, where flick motion generated by a single actuator is proposed. First, we introduce an active-passive hybrid finger whose joint axes are arranged in nonparallel with each other. The finger mechanism features that the fingertip vibration trajectory is variable on a curved surface in 3D space based on the input of the active joint and the viscoelasticity of the passive joint. Then, the flick motion where the soft fingertip quickly traces an environment or an object, is explored. We reveal that the flick velocity vector can be controlled by the combination of the input frequency and amplitude of the active joint. Finally, we show experimental results by using a prototype robot for confirming the validity of the proposed method.
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