Two-Phase Gripper to Reorient and Grasp

This invention describes a robotic hand designed to pick up and correctly orient objects using two fingers, each with a flexible strip that has a small bump. When the hand first closes gently, the bumps touch the object with low friction, letting it spin into the right position as the hand lifts. Then, the hand squeezes harder, making the flexible strips flatten into V-shaped grooves, creating a firm, multi-point grip on cylindrical or prismatic objects.

Why it matters: Since 2016, advancements in affordable force-sensing and precise servo-actuation have made the two-phase force control mechanism more practical. Additionally, improved additive manufacturing techniques simplify the creation of the custom finger geometries and elastic strips.

Status: Not in forceListed as no longer active. The specific reason is not in the record we hold.
How hard to build: ModerateCustom fingers, elastic strips, two-phase force control.

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