IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Closing Plenary During the workshop, the participants were asked about their next steps in the research in underactuated grasping. The answers were put in these slides and discussed at the closing plenary.

IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Design perspective Need for methods to go from application to underactuated mechanism Application driven design Feedback from industry is important Improve design without changing concept Aesthetics Integration hand with robot. Integration of sensors, mechanisms, etc. Integrate point of view of every participant Discussion: Is more input from applications needed or are underactuated hands general applicable?

IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Design Aspects Cable routing Contact material for prosthetic hands Non-backdriveable joints: improving the performance? Design of 3 phalanx fingers (anthropomorphic motion, grasp stability) Achieve pinch grasps without additional mechanism Compliant fingers: balancing + force output Discussion: 1. Importance of friction and finger tip compliance cannot be underestimated. It is useful to distinguish to what extend the mechanism of the hand vs. the contact material contributes to the performance 2. Non-backdriveability seems good, unless a soft grasp or grasp reconfiguration is desired.

IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Modeling Better models of compliant joints  improve design Object focused grasp (not to concentrate to much on the finger only) Improve general modeling of u.a. grasping Clear definitions/ nomenclature/ terminology Agreement about useful performance metrics Discussion: 1. Involve palm in grasp models. 2. Compliant mechanisms need static balancing. Out of plane stiffness must be taken into account. 3. Quantified performance metrics needed. Task specific metrics or a more general framework? Optimization or just constraint satisfaction?

IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Grasping Practice Grasping by fast motion (Octarm) Grasp planning important issue (how hand reach object?) vs. mechanical intelligence How optimize motion of robot arm to achieve manipulation with u.a. gripper

IFToMM/ ASME International Workshop on Underactuated Grasping August 19, 2010, Montréal, Canada Thanks