Humans use their dexterous fingers and adaptable palm in various multiobject grasping strategies to efficiently move multiple objects together in various situations. Advanced manipulation skills, such as finger-to-palm translation and palm-to-finger translation, enhance the dexterity in multiobject grasping. These translational movements allow the fingers to transfer the grasped objects to the palm for storage, enabling the fingers to freely perform various pick-and-place tasks while the palm stores multiple objects. However, conventional grippers, although able to handle multiple objects simultaneously, lack this integrated functionality, which combines the palm’s storage with the fingers’ precise placement. Here, we introduce a gripper for multiobject grasping that applies translational movements of fingertips to leverage the synergistic use of fingers and the palm for enhanced pick-and-place functionality. The proposed gripper consists of four fingers and an adaptive conveyor palm. The fingers sequentially grasp and transfer objects to the palm, where the objects are stored simultaneously, allowing the gripper to move multiple objects at once. Furthermore, by reversing this process, the fingers retrieve the stored objects and place them one by one in the desired position and orientation. A finger design for simple object translating and a palm design for simultaneous object storing were proposed and validated. In addition, the time efficiency and pick-and-place capabilities of the developed gripper were demonstrated. Our work shows the potential of finger translation to enhance functionality and broaden the applicability of multiobject grasping.

中文翻译：

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MOGrip：用于在拾取和放置任务中使用手指的平移运动进行多对象抓取的夹持器


人类在各种多对象抓取策略中使用他们灵巧的手指和适应性强的手掌，在各种情况下有效地将多个对象一起移动。高级操作技能（例如手指到手掌的平移和手掌到手指的翻译）增强了多对象抓取的灵巧性。这些平移运动允许手指将抓到的物体转移到手掌上进行存储，使手指能够自由执行各种拾取和放置任务，而手掌则存储多个物体。然而，传统的夹爪虽然能够同时处理多个物体，但缺乏这种集成功能，该功能将手掌的存储与手指的精确放置相结合。在这里，我们介绍了一种用于多对象抓取的抓手，它应用指尖的平移运动，以利用手指和手掌的协同使用来增强拾取和放置功能。建议的夹持器由四个手指和一个自适应输送机手掌组成。手指按顺序抓取物体并将其转移到手掌上，在那里物体同时存储，允许抓手一次移动多个物体。此外，通过反转此过程，手指检索存储的对象并将它们一个接一个地放置在所需的位置和方向。提出并验证了用于简单对象平移的手指设计和用于同时存储对象的手掌设计。此外，还展示了开发的夹具的时间效率和拾取和放置能力。我们的工作显示了手指翻译在增强功能和扩大多对象抓取的适用性方面的潜力。