This activity is carried out by the University of Florence (DIEF) and the University of Siena.
The University of Siena researchers focused on the development of robotic grippers that can be applied in rehabilitation, assistive, and augmentation applications. Starting from grasping and manipulation models, a new gripper was designed and developed. The role of finger compliance in grasping and manipulation capabilities was investigated and finger joints with adaptable stiffness properties were developed. Starting from grasping and manipulation models, a new gripper was designed and developed, The role of finger compliance in grasping and manipulation capabilities was investigated and fingers with adaptable joint stiffness were developed. Synergy based, MPC control systems for robotic grippers were developed and tested with numerical simulations.
UNIFI researchers focused on the study of a pneumatic actuator to be employed as a finger for soft robotic grippers. Two different versions, developed with different materials and technologies, were developed and vverifirified wiwith sth statics and fatigue tests. and fatigue tests.