Fakhri, OsamahOsamahFakhriYoussef, GeorgeGeorgeYoussefNacy, Somer M.Somer M.NacyAl-Tamimi, Adnan Naji JameelAdnan Naji JameelAl-TamimiHussein, O.O.HusseinAbbood, Wisam T.Wisam T.AbboodAbdullah, Oday IbraheemOday IbraheemAbdullahAl-Karkhi, Nazar KaisNazar KaisAl-Karkhi2023-04-282023-04-282023-04-18Electronics 12 (8): 1902 (2023)http://hdl.handle.net/11420/15262A 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.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.en2079-929220238Multidisciplinary Digital Publishing Institutehttps://creativecommons.org/licenses/by/4.0/jamming mechanismgranular mediastable graspingvariable stiffnessTechnikIngenieurwissenschaftenJournal Article2023-04-2710.15480/882.509710.3390/electronics1208190210.15480/882.5097Journal Article