IEEE Robotics & Automation Magazine - December 2020 - 64

force applied by the fingertip. It was shown that the longitudinal location of the joint and the pressure inside the link
(P2) were highly effective for this force. The wide range of
force applied to the fingertip as well as the diversity of possible configurations to reach a given target leads to a variety of
strategies to deal with situations such as the variable amount
of force required or the presence of any obstacles in the
workspace. Optimizing the dimension of the finger allowed
us to reduce the volume of the required air and, consequently, the response time. The experiments showed that the joint
can bend up to 90° in less than 3 s, in contrast with previous
approaches (as in SMPs or LMPAs).
Future Works
As for future works, the idea of using these fingers in a dexterous gripper with miniaturized pumps and electric motors
will be studied. Furthermore, combining sensitivity analysis
and NSGA-II optimization provides a design basis for this
future gripper, especially in considering an energy criterion.
Acknowledgment
This work has been sponsored by the French government
research program " Investissements d'Avenir " through the
IDEX-ISITE initiative 16-IDEX-0001 (CAP20-25).
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Amir Pagoli, Université Clermont Auvergne, CNRS, SIGMA
Clermont, Institut Pascal, Clermont-Ferrand, France, E-mail:
amir. pagoli@sigma-clermont.fr.
Frédéric Chapelle, Université Clermont Auvergne, CNRS,
SIGMA Clermont, Institut Pascal, Clermont--Ferrand, France,
E-mail: frederic.chapelle@sigma-clermont.fr.
Juan-Antonio Corrales-Ramon, Université Clermont Auvergne,
CNRS, SIGMA Clermont, Institut Pascal, Clermont-Ferrand,
France, E-mail: juan-antonio.corrales-ramon@-s igma
-clermont.fr.
Youcef Mezouar, Université Clermont Auvergne, CNRS,
SIGMA Clermont, Institut Pascal, Clermont--Ferrand,
France, E-mail: youcef.mezouar@sigma-clermont.fr.
Yuri Lapusta, Université Clermont Auvergne, CNRS, SIGMA
Clermont, Institut Pascal, Clermont-Ferrand, France, E-mail:
yuri.lapusta@sigma-clermont.fr.
IEEE Robotics & Automation Magazine - December 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2020
