Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation
<|reference_start|>Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation: We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger.<|reference_end|>
@article{ornelas2024everyday,
    title={Everyday Finger: A Robotic Finger that Meets the Needs of Everyday
  Interactive Manipulation},
    author={Rub'en Castro Ornelas, Tom'as Cant'u, Isabel Sperandio, Alexander
  H. Slocum, and Pulkit Agrawal},
    journal={arXiv preprint arXiv:2408.04142},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.04142},
    primaryClass={cs.RO}
}