一款可360度旋转物体的柔性机械手，无需重新抓取即可完成精细操作。
DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity
- 采用三自由度吸力掌和三旋转抓取面，实现柔性稳定抓握与操控。
- 在多种材质、大小、重量的物体上实现无重抓的定位与翻转。
- 适合需要高灵活性的工业分拣、装配等场景，突破传统软体夹具局限。
机器人夹爪不仅需要抓取能力，还需具备在手中重新定位和翻转物体的能力，以实现通用化操作。尽管近年软体机器人抓取技术显著提升了抓握质量与稳定性，其操控能力仍研究不足。本文提出DexGrip，一种多模态软体机械手，具备在手中抓取、重定位与操纵功能。DexGrip配备3自由度主动吸力掌和3个主动旋转抓取面，可在不重新抓取的情况下实现对物体的软性、稳定且灵巧的操控，并支持所有三个主轴方向的360度完整旋转。实验在多样化的物体与任务中验证了该能力：成功抓取、移动并翻转了具有广泛刚度、尺寸、重量和表面纹理差异的物体；有效操控了对现有机械手极具挑战性的目标。
原文摘要 · Abstract (English)
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities remain under-explored. This paper presents the DexGrip, a multi-modal soft robotic gripper for in-hand grasping, re-orientation and manipulation. DexGrip features a 3 Degrees of Freedom (DoFs) active suction palm and 3 active (rotating) grasping surfaces, enabling soft, stable, and dexterous grasping and manipulation without ever needing to re-grasp an object. Uniquely, these features enable complete 360 degree rotation in all three principal axes. We experimentally demonstrate these capabilities across a diverse set of objects and tasks. DexGrip successfully grasped, re-positioned, and re-oriented objects with widely varying stiffnesses, sizes, weights, and surface textures; and effectively manipulated objects that presented significant challenges for existing robotic grippers.
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