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    Item type:Publication, Access status: with files ,
    A systematic approach to stable grasping of a two-finger robotic hand activated by jamming of granular media
    (Multidisciplinary Digital Publishing Institute (MDPI), 2023-04-18)
    Fakhri, Osamah
    ;
    Youssef, George
    ;
    Nacy, Somer M.
    ;
    Al-Tamimi, Adnan Naji Jameel
    ;
    Hussein, O.
    A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.
    Publicationtype: Journal Article
    Scopus© Citations 2  43  251
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    Item type:Publication, Access status: without files ,
    Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring
    (Springer, 2022-02-19)
    Abbood, Wisam T.
    ;
    Nacy, Somer M.
    ;
    Youssef, George
    ;
    Abdullah, Oday Ibraheem
    The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator. Concurrently, an experimental setup was designed and manufactured to validate the theoretical model. A novel control scheme is adopted to enhance the response through stiffness variation. Results showed that the time of response is reduced by 73% as compared to that of a constant stiffness actuator. In order to find the effectiveness of the proposed control scheme, a PID controller is implemented, where the response time was reduced by 58% using the former.
    Publicationtype: Journal Article
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