Thin Planar Shell Gripper Heads: Zhongkui Wang Contact: Hiroki Aoyama Date: 2020 - Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Cross-ministerial Strategic Innovation Promotion Program (SIP) "An intelligent knowledge processing infrastructure, integrating physical and virtual domains" Grant-in-Aid for Scientific Research on Innovation Areas (Science of Soft Robots) JP21H00333 Mechanics of Wet Contact with Applications to Sticky/Slippery Object Manipulation Associated lab/group:

Project Description

A thin planar shell gripper is proposed to pick and place food materials in a narrow space. We develop novel structure and fabrication method of thin fingers that can be inserted into a narrow space.

Personnel

	Name	Title	Degree
	Hiroki Aoyama	Graduated	Master of Eng.
	Kanegae Ryo	Graduated	Master of Eng.

Publications

• Sachin, Zhongkui Wang, Takahiro Matsuno, and Shinichi Hirai, Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper, IEEE Robotics and Automation Letters, Vol.7, No.4, pp.10359-10366, 10.1109/LRA.2022.3183794, Oct., 2022

• Hiroki Aoyama, Zhongkui Wang, and Shinichi Hirai, Demolding-Free Casting for Fabricating Inflatable Soft-Rigid Structures, 2025 IEEE Int. Conf. on Soft Robotics (RoboSoft 2025), SwissTech Convention Center, Lausanne, Switzerland, Apr. 23-26, 2025
• Hiroki Aoyama, Wang Zhongkui, and Shinichi Hirai, Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product, 2022 IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2022), 10.1109/Humanoids53995.2022.10000125, Okinawa Convention Center, Ginowan, Okinawa, Japan, Nov. 28-30, 2022
• Ryo Kanegae, Zhongkui Wang, and Shinichi Hirai, Easily Fabricatable Shell Gripper for Packaging Multiple Cucumbers Simultaneously, 2020 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2020), pp.188-192, 10.1109/RCAR49640.2020.9303297, online, Sept. 28-29, 2020

Notes

Field test on multiple cucumber packing

Planar shell gripper picking cucumbers

Planar shell gripper picking cucumbers

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