Wrapping Gripper Heads: Zhongkui Wang Contact: Haruki Okamoto Date: 2018 - 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" Associated lab/group:

Project Description

We propose a wrapping gripper to grasp chopped or granular food materials. A wrapping gripper consists of multiple inflatable soft fingers. Fingers will expand according to air pressure so that the gap between neighboring fingers shrinks, with successfully grasping chopped or granular food materials.

Wrapping gripper picking up granular cones

Wrapping gripper picking up salt

Personnel

	Name	Title	Degree
	Matsuo Taichi	M1
	Haruki Okamoto	Graduated	Master of Eng.
	Kuriyama Yoshiyuki	Graduated	Master of Eng.

Publications

• Yoshiyuki Kuriyama, Yuusuke Okino, Zhongkui Wang, and Shinichi Hirai, A Wrapping Gripper for Packaging Chopped and Granular Food Materials, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.114-119, 10.1109/ROBOSOFT.2019.8722745, COEX, Seoul, Korea, Apr. 14-18, 2019

• Shinichi Hirai, Soft Robotic Approach to Food Material Manipulation, Workshop on Robotic Food Manipulation (IEEE-RAS Int. Conf. on Humanoid Robots), Hilton Toronto, Toronto, Canada, Oct. 15-17, 2019

Notes

Wrapping gripper picking corn

Wrapping gripper picking hijiki

Simulating wrapping gripper motion (side view)

Simulating wrapping gripper motion (top view)

Wrapping gripper open

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