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Benchmarking Variable-Stiffness Grippers

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Intelligent Autonomous Systems 17 (IAS 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 577))

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Abstract

Designs for grippers using variable-stiffness principles have become common in recent years. Researchers have developed various tests and setups to measure and validate the properties of their designs. However, there are no clear standards or benchmarks to analyse, categorise and compare this type of grippers. This paper proposes a set of benchmarks to evaluate and categorise variable-stiffness grippers. After reviewing the tests commonly applied to evaluate existing variable-stiffness and generic grippers, we propose four tests to measure different properties of a gripper. The tests are independent of one another and allow to classify each gripper in a three-category taxonomy. In order to validate the benchmark tests, three simple variable-stiffness grippers have been built and analysed with the benchmark. The results show that the grippers can be easily analysed with our benchmarks.

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Acknowledgements

This paper describes research conducted at UJI Robotic Intelligence Laboratory. Support for this laboratory is provided in part by Universidad Jaume I (UJI-B2021-42, UJI-B2021-27), by Generalitat Valenciana (PROMETEO/2020/034) and by Ministerio de Ciencia y Teconologia (PDC2021-121011-I00).

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Authors and Affiliations

  1. Robotic Intelligence Laboratory, Universitat Jaume I, Castellón de la Plana, Spain

    Daniel Cardin-Catalan, Angel P. del Pobil & Antonio Morales

Authors
  1. Daniel Cardin-Catalan
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  2. Angel P. del Pobil
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  3. Antonio Morales
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Corresponding author

Correspondence to Daniel Cardin-Catalan .

Editor information

Editors and Affiliations

  1. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Petrovic

  2. Department of Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  3. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Marković

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Cardin-Catalan, D., del Pobil, A.P., Morales, A. (2023). Benchmarking Variable-Stiffness Grippers. In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-031-22216-0_4

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