Variable Stiffness Robotic Gripper Using Permanent Magnets


This invention is a device to control and adjust the position and compliance — or “give” — of the “fingers” on a gripper robot. The present invention also estimates contact forces without force sensors to reduce bulk on the gripper assembly. It provides for low friction, compactness, and an improvement of the robustness when inadvertent collisions occur.


The present invention’s compliance not only enables it to pick up delicate objects, but also ensures symmetrical movement and a symmetrical return to equilibrium position, without dropping or damaging the grasped object. The design also allows could be expanded to have more degrees of freedom, such as a three (or more) fingered gripper. The machine controller compensates for gravity, dynamic motion, and friction.



Patent Information:
For Information, Contact:
Jeffrey Dunbar
University at Buffalo
716 645-8134
Ehsan Esfahani
Amirhossein Hajiagha Memar
Assistive Technology
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