IEEE Robotics & Automation Magazine - December 2018 - 55

Coin
Diameter:
30 mm
Weight:
8g
(a)

(b)

(c)

(d)

(e)

(g)

(h)

(i)

(j)

(l)

(m)

(n)

(o)

(q)

(r)

(s)

(t)

(v)

(w)

(x)

(y)

Vase Shards

(f)

Max Length:
. 240 mm
Max Height:
. 160 mm
Max Weight:
. 950 g

Coral Shards
Length:
. 51 mm
Height:
. 61 mm
Weight:
17 g
(k)

Plant Stem
Length:
. 44 mm
Height:
. 212 mm
Weight:
3g
(p)

Valve
Length:
. 16 mm
Height:
. 158 mm
(u)

Figure 10. The experimental validation of the end effector with the SoftHand terminal device at a depth of - 1 m. The top four rows
show dexterous operation, and the bottom row shows a force operation: (a)-(e) archeological recovery, grasping a coin; (f)-(j)
archeological recovery, grasping vase shards; (k)-(o) biological sampling, grasping a reproduced coral; (p)-(t) biological sampling,
grasping a reproduced aquatic plant stem; and (u)-(y) force operation, turning a valve. (a), (f), (k), (p), and (u) show the grasped
object's dimensions for every experiment.

december 2018

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

55



IEEE Robotics & Automation Magazine - December 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018

Contents
IEEE Robotics & Automation Magazine - December 2018 - Cover1
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