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Published at November 26

DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity

cs.RO

Released Date: November 26, 2024

Authors: Xing Wang, Liam Horrigan, Josh Pinskier, Ge Shi, Vinoth Viswanathan, Lois Liow, Tirthankar Bandyopadhyay, Jen Jen Chung, David Howard

Arxiv: http://arxiv.org/abs/2411.17124v1

Refer to caption

Ref	DoFs	Grasping Type	Manipulation	Active palm	Collaborative Motion
[14]	14	Pinch Power	Re-position Re-orientation	Suction	✓
[15]	5	Pinch	Re-position Re-orientation	-	✗
[16]	13	Pinch	Re-position Re-orientation	-	✗
[17]	3	Pinch Power	Re-position Re-orientation	-	✗
[9]	4	Pinch Power	Re-position Re-orientation	-	✗
This work	9	Pinch Power	Re-position Re-orientation	Suction Re-orientation	✓