Tootfinder

Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning
Jihao Li, Keqi Zhu, Guodong Lu, I-Ming Chen, Huixu Dong
https://arxiv.org/abs/2506.11570

Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning
We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked by double four-linkages is designed as a finger to automatically achieve the transformation between parallel and enveloping grasping modes. This enables the creation of a low-cost under-actuated gripper comprising a single actuator and two 3-phalange fingers…