Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912458699964416 |
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| author | Zhou, Jianshu Liang, Boyuan Huang, Junda Tomizuka, Masayoshi |
| author_facet | Zhou, Jianshu Liang, Boyuan Huang, Junda Tomizuka, Masayoshi |
| contents | This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps actuator inputs to joint and task-space responses. Hydraulic actuators are modeled under incompressible assumptions, while pneumatic actuators are described using nonlinear pressure-volume relations. The framework enables consistent evaluation of manipulability ellipsoids and compliance matrices across actuation modes. We validate the analysis using two representative hands: DexCo (hydraulic) and Edgy-2 (pneumatic). Results highlight actuation-dependent trade-offs in dexterity and passive stiffness. These findings provide insights for structure-aware design and actuator selection in soft-rigid robotic fingers. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_13800 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers Zhou, Jianshu Liang, Boyuan Huang, Junda Tomizuka, Masayoshi Robotics This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps actuator inputs to joint and task-space responses. Hydraulic actuators are modeled under incompressible assumptions, while pneumatic actuators are described using nonlinear pressure-volume relations. The framework enables consistent evaluation of manipulability ellipsoids and compliance matrices across actuation modes. We validate the analysis using two representative hands: DexCo (hydraulic) and Edgy-2 (pneumatic). Results highlight actuation-dependent trade-offs in dexterity and passive stiffness. These findings provide insights for structure-aware design and actuator selection in soft-rigid robotic fingers. |
| title | Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.13800 |