About Model VF


The Model VF (variable friction) is an adapted Model T42 designed for simple and robust planar within-hand manipulation. It is able to both, passively and actively, change surface friction during a manipulation task, enabling it to perform predefined manipulations with ease.


A. J. Spiers, B. Calli, and A. M. Dollar
"Variable-Friction Finger Surfaces to Enable Within-Hand Manipulation via Gripping and Sliding," IEEE Robotics and Automation Letters (with IROS option), 2018.

Performance


Specifications

  • Actuators: 2x Dynamixel XM-430 W350-R
  • Base Height: 55-80mm
  • Base Diameter: 90-105mm
  • Weight: 600g

Capabilities and Press

Build


CAD

  • Latest Revision [Github]
  • Revision 1.0.0 (01/04/19) [.zip]

Instructions