RECORD
Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces
Robotics · Submitted 9 Nov 2022
abstract compiled · 2026-09-23 · no language-model review
The authors' main claim The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).
The compiled record
The paper's own sentences, arranged. Each label is drawn from a closed vocabulary; the number beside it is the probability the classifier gave that label. Numbers in the tables are the authors', checked by code. No sentence in this record was written by a model.
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The abstract, sentence by sentence
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. The grasping mode of the finger is activated through a folding mechanism. Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. The latter approach is effective when it is unclear how much finger insertion is required for a specific task. The structure provides a simple control scheme. The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).
background contribution method result interpretation main claim
| # | sentence | role | the authors' own work | states the main conclusion | strength |
|---|---|---|---|---|---|
| s0 | This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. | contribution 1.00 | 0.81 | 0.17 | asserted 0.99 |
| s1 | The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. | contribution 0.51 | 0.87 | 0.10 | asserted 1.00 |
| s2 | In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. | method 0.81 | 0.52 | 0.05 | asserted 1.00 |
| s3 | The grasping mode of the finger is activated through a folding mechanism. | method 0.89 | 0.69 | 0.05 | asserted 1.00 |
| s4 | Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. | method 0.94 | 0.66 | 0.09 | asserted 0.98 |
| s5 | The latter approach is effective when it is unclear how much finger insertion is required for a specific task. | interpretation 0.60 | 0.45 | 0.05 | asserted 0.97 |
| s6 | The structure provides a simple control scheme. | contribution 0.71 | 0.50 | 0.08 | asserted 1.00 |
| s7 | The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. | method 0.79 | 0.94 | 0.08 | asserted 0.99 |
| s8 | The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy). | result 1.00 | 0.92 | 0.20 | asserted 0.99 |
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The paper
Original abstract
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only a single motor. In the insertion mode, the finger assumes a thin shape such that it can insert its tip into a narrow space. The grasping mode of the finger is activated through a folding mechanism. Mode switching can be achieved in two ways: switching the mode actively by a motor, or combining passive rotation of the fingertip through contact with the support surface and active motorized construction of the claw. The latter approach is effective when it is unclear how much finger insertion is required for a specific task. The structure provides a simple control scheme. The performance of the proposed robotic gripper design and control methodology was experimentally evaluated. The minimum width of the insertion space required to grasp an object is 4 mm (1 mm, when using a strategy).
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