Event
Paper release for the ORBIT modular multi-fingered hand platform
1 reports · 1 sources
Benito Ribadeneira, Siqi Shang, and Lillian Chin submitted a paper proposing the ORBIT modular multi-fingered robotic hand platform. Its core is a rotating knuckle mechanism: fingers move around a cylindrical palm via belt transmission, allowing finger layout reconfiguration within 1 second without disassembly. The authors report that the platform's fingers have an average angular velocity of 1.57 rad/s and a finger-base compressive resistance of 50 N. In a three-finger configuration, the authors conducted preliminary grasping experiments comparing three finger layouts—anthropomorphic, equidistant, and Barrett-style—on 11 objects of varying size, shape, and texture. These performance and grasping results are as reported by the paper's authors and await independent verification.
Report timeline
- ORBIT: A Modular Multi-Finger Robotic Hand Platform with Rotatable, Reconfigurable Finger Layouts
The authors propose ORBIT (Orbital Reconfigurable Base-actuated Integrated Theta-motion Hand), a modular multi-finger robotic hand platform whose core is a rotating knuckle mechanism: fingers travel around a cylindrical palm via a belt drive, enabling finger-layout reconfiguration within 1 second without disassembly.
arXiv cs.RO ·