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dc.contributor.author Batsuren, Khulan -
dc.contributor.author Yun, Dongwon -
dc.date.accessioned 2019-09-22T11:03:00Z -
dc.date.available 2019-09-22T11:03:00Z -
dc.date.created 2019-08-22 -
dc.date.issued 2019-08 -
dc.identifier.citation Applied Sciences, v.9, no.15 -
dc.identifier.issn 2076-3417 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/10642 -
dc.description.abstract In this work, we present a soft robotic gripper for grasping various objects by mimicking in-hand manipulation. The soft robotic gripper consists of three fingers. Each finger contains three air chambers: Two chambers (side chambers) for twisting in two different directions and one chamber (middle chamber) for grasping. The combination of these air chambers makes it possible to grasp an object and rotate it. We fabricated the soft finger using 3D-printed molds. We used the finite element method (FEM) method to design the most effective model, and later these results were compared with results from experiments. The combined experimental results were used to control the range of movement of the whole gripper. The gripper could grasp objects weighing from 4 g to 300 g just by inflating the middle chamber, and when air pressure was subsequently applied to one of the side chambers, the gripper could twist the object by 35°. © 2019 by the authors. -
dc.language English -
dc.publisher MDPI AG -
dc.title Soft robotic gripper with chambered fingers for performing in-hand manipulation -
dc.type Article -
dc.identifier.doi 10.3390/app9152967 -
dc.identifier.wosid 000482134500022 -
dc.identifier.scopusid 2-s2.0-85070548710 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname Applied Sciences -
dc.contributor.nonIdAuthor Batsuren, Khulan -
dc.identifier.citationVolume 9 -
dc.identifier.citationNumber 15 -
dc.identifier.citationTitle Applied Sciences -
dc.type.journalArticle Article -
dc.embargo.liftdate 9999-12-31 -
dc.embargo.terms 9999-12-31 -
dc.description.isOpenAccess Y -
dc.subject.keywordAuthor pneumatic actuator -
dc.subject.keywordAuthor soft robotics gripper -
dc.subject.keywordAuthor FEM -
dc.subject.keywordPlus ACTUATORS -
dc.contributor.affiliatedAuthor Batsuren, Khulan -
dc.contributor.affiliatedAuthor Yun, Dongwon -

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