Data for: MOGrip: Gripper for multi-object grasping in pick-and-place tasks using translational movements of fingers

Humans utilize their dexterous fingers and adaptable palms in various multi-object grasping strategies to efficiently move multiple objects together in various situations. Advanced manipulation skills, such as finger-to-palm translation and palm-to-finger translation, enhance dexterity in multi-object grasping. These translational movements allow the fingers to transfer the grasped objects to the palm for storage, enabling the fingers to freely perform various pick-and-place tasks while the palm stores multiple objects. However, conventional grippers, although able to handle multiple objects simultaneously, lack this integrated functionality, which combines the palm's storage with the fingers' precise placement. Here, we introduce a gripper for multi-object grasping that applies translational movements of fingertips to leverage the synergistic use of fingers and the palm for enhanced pick-and-place functionality. The proposed gripper consists of four fingers and an adaptive conveyor pal..., Experiments
To validate the motion of the decoupling design, the grasping tendon was pulled with a motor (100:1 Micro Metal Gearmotor HPCB 6V, Pololu). The movement of five different decoupling linkages was recorded by a camera with 30 fps, and the positions of the three red markers of each frame were tracked through MATLAB (MathWorks). The MATLAB function “imfindcircle” was utilized to find the red markers, and through the positions of these three markers, the rotation angle and translation distance of the finger were calculated. Experiments for each decoupling link design were repeated five times.
The storing force along the y-axis was measured by a tensile testing machine (INSTRON 5948 Microtester). In the experiment measuring the storing force for a single object, to ensure repeatability in the process of inserting the object into the storage, the storage was divided in half and placed on both sides of the rail. Then, the target was placed between the storages, and stored by moving ..., , # Data for: MOGrip: Gripper for multi-object grasping in pick-and-place tasks using translational movements of fingers

[https://doi.org/10.5061/dryad.44j0zpcqd](https://doi.org/10.5061/dryad.44j0zpcqd)

## Description of the data and file structure

**Overview**

This dataset contains the experimental data, modeling, and simulation model for analyzing the proposed gripper that can be applied to multi-object grasping in various pick-and-place tasks by using translational movements of fingers. The presented dataset is necessary for generating figures, models, and results for the paper titled \"MOGrip: Gripper for Multi-Object Grasping in Pick-and-Place Tasks Using Translational Movements of Fingers\".

### Files and variables

#### File: ABAQUS\_Simulation.zip

**Description:** 

INP files for running ABAQUS simulations with varying design parameters of the conveyor palm are provided. Although we intended to include all ODB files containing the simulation results, each file is approximatel...