We present a hand specialized for climbing unstructured rocky surfaces. Articulated fingers achieve grasps commonly used by human climbers. The gripping surfaces are equipped with dense arrays of spines that engage with asperities on hard rough materials. A load-sharing transmission system divides the shear contact force among spine tiles on each phalanx to prevent premature spine slippage or grasp failure. Taking advantage of the hand’s kinematic and load-sharing properties, the wrench space of achievable forces and moments can be computed rapidly. Bench-top tests show agreement with the model, with average wrench space errors of 10–15%, despite the stochastic nature of spine/surface interaction. The model provides design guidelines and control strategy insights for the SpinyHand and can inform future work.
SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot
Present address: Flexiv Robotics, Ltd., 4500 Great America Pkwy, Santa Clara, CA 95054.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received December 31, 2018; final manuscript received February 4, 2019; published online April 9, 2019. Assoc. Editor: Veronica J. Santos.
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Wang, S., Jiang, H., Myung Huh, T., Sun, D., Ruotolo, W., Miller, M., Roderick, W. R. T., Stuart, H. S., and Cutkosky, M. R. (April 9, 2019). "SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot." ASME. J. Mechanisms Robotics. June 2019; 11(3): 031009. https://doi.org/10.1115/1.4043023
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