ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications

Abstract

Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes involving assembly and disassembly, where efficiency and consistency depend on performing rapidly adaptive tasks. Nonetheless, contemporary robotic grasping technologies that can securely manipulate tools during operation frequently have significant constraints. In this paper, we introduce ARTiS (Adaptive Robotic Tool Gripper in Disassembly Systems), a novel gripper that combines the adaptability of soft grippers, the dexterity of anthropomorphic hands, and the robustness of rigid mechanisms with a soft palm. This unique combination makes it possible to hold tools securely in a variety of situations through using active jamming in the palm and fin-ray adaptation in fingertips. Furthermore, high finger dexterity is achieved through the seven degrees of freedom design, which enables the fingertips to orient themselves to any surface, both for automated solutions and collaborative tasks. We conducted a comprehensive evaluation using a range of conventional disassembly tools to assess the gripper's compliance, durability, and functional versatility.

Human Hand Bio-Inspiration

An important element in the development of the ARTiS gripping device is bio-inspiration from the human hand.

Adaptability/Motion of Human Palm and Finger

Main Methods of Grasping/Holding Studying Tools

Design Concept

To provide ARTiS with a wide working range of palm usage, it is necessary for the gripper's fingers to completely leave the working area of the jamming part (Open finger), and for this, we used the classic four-bar finger mechanism with two finger tips (Tip 1 and 2). Thanks to classical kinematics, we can solve the system of equations to find the position of the fingertip depending on the angle of rotation of the driven (motor 3 - Dynamixel MX-28R) link L1. Each gripper finger is equipped with an orientation motor (motor 2 - Dynamixel MX-28R) that changes the orientation of the finger around the finger-axis J_1 in the range from -90 to 90 degrees. One of the fingers is fixed to the base of the gripper, and the other two are driven by motor (motor 1 - Dynamixel MX-64R), which, through a double gear transmission (1:4), transmits movement to rotary platforms 1 and 2. The rotary platforms are driven to symmetrically change the orientation of the fingers relative to the gripper axis from 0 to 70 degrees. With this design, one finger has 2 DoF, and the other two have 3 DoF, which is enough to provide versatility in choosing a grasping finger configuration.

ARTiS control flow

Design Specification

Kinematic diagram

Specification	Value	Unit
Motor torque limit MX-64R	6	Nm
Motor torque limit MX-28R	2.5	Nm
Palm membrane material	Rubber latex	—
Palm response time at 400 kPa supply pressure	0.7	s
Bearing basic dynamic load	15100	N
Bearing basic static load	26600	N

It should be noted that depending on the supply pressure, the palm parameters will change. Using a supply pressure of 400kPa, we provided the maximum possible vacuum for this ejector. Further increase in the supply pressure will have almost no effect on the force characteristics of the gripper. However, with an increase in pressure above 400kPa, the time required to achieve vacuum will decrease. Since the maximum air consumption does not exceed 20 L/min (very low), we did not impose significant restrictions on the fact that the system will behave differently in manufacturing. Even laboratory compressors allow to provide such air consumption. Also, the "Palm response time" at a supply pressure of more than 400kPa will be shortened, the measurement of how much it can be shortened has not been carried out.

Highly Adaptive Fingertips

To obtain high adaptability to different tool and part geometries, we developed the novel TPU-95A 3D-printed fingertips 1 and 2. The design was bioinspired by human fingers in their ability to actively adapt to the orientation and geometry of the tools. To ensure minimal force for adapting to the tool's geometry and changing orientation, it was decided to make one of the two fixing parts of the Fin-Ray move freely (released) and combine four such structures to obtain a round shape. As a result, we got Tip 1, which consists of a rigid holder with a bolt to which four TPU-95A 3D printing elements are attached, and are additionally connected to each other with a rubber ring. The same time, we designed Tip 2, which has oppositely deployed small Fin-Rays with five elements, connected by a thin (0.3 mm) ellipse, and like the previous finger, covered with a friction surface.

Power Sphere Using Tip 1

Power Wrap Using Tip 2

Evaluating Robustness

The robustness of the ARTiS gripping device is ensured by the adaptability and force absorption of fingertip 1 (sphere holding) and 2 (wrap holding). An experimental setup was built, consisting of a fixed adaptive tip on which objects are pressed at different orientations (from 0 to 50 degrees) while simultaneously obtaining data on displacement and force. To ensure the reliability and robustness of the obtained data, each experiment is performed 30 times, and the average value is displayed with the data fluctuation zone of the same color.

Experimental Setup

Tip 1 Object Orienation

Tip 2 Object Orienation

Tip 2 Finger Orienation

When using a tool held by a gripper, the robustness and stability of its holding are important, which are disturbed by interaction with the external environment. The most unfavorable moment occurred when grasping the power sphere method with two fingers, the force applied to the tip of the tool is directed perpendicular to the grasping plane with two fingers. Using this method, we hold screwdrivers that, with sufficient applied force, can slip out of the fingers and cause the inability to work correctly. To demonstrate the influence of the method of holding the tool with a gripper on the slipping force, an experiment was conducted according to the scheme and with two screwdrivers of different shapes and sizes when gripping (each method test was repeated 30 times to obtain an average force value): using only fingers - Finger(on); the palm is present but excluded, only fingers actively use - Palm(off), Finger(on); with the use of the palm to actively fix the tool and without the use of fingers - Palm(on), Finger(off); with the use of the palm to actively fix the tool and with the use of fingers - Palm(on), Finger(on).

LEAP Hand, 2 fingers grasping

LEAP Hand, 3 fingers grasping

Slip Diagram

Slip Force Screwdriwer №2

Slip Force Screwdriwer №4

Tools Used in Assembly and Disassembly

Screwdriver №2

Screwdriver №3

Screwdriver №4

Screwdriver №5

Screwdriver №6

Screwdriver №7

Screwdriver №8

Screwdriver №9

Drill №1

Drill №2

Hammer №1

Hammer №2

Screwdriver №1

Tool Parameters

Screwdriver №1 Weight 0.148 kg; The material of the metal rod is stainless steel; The Phillips tip is magnetized hard steel; The handle is square in shape with a side of 36 mm; The beginning of the handle is made of metal, which allows to hit it with a hammer; The gray material on the handle is smooth ABS plastic; The black material of the handle is a highly flexible smooth rubber that imitates the shape of the protruding squares.

Screwdriver №2 Weight 0.108 kg; Material of the metal rod is stainless steel; Phillips tip is magnetized hard steel; Spherical handle with a diameter of 40 mm, which then turns into a conical shape; Black material on the handle is matte ABS plastic; Red material of the handle is flexible matte rubber, imitating the shape of protruding diamonds.

Screwdriver №3 Weight 0.099 kg; Material of the metal rod is steel; The Phillips tip is an extension of the steel rod; The handle is cylindrical in shape with a diameter of 32 mm, which then turns into a conical shape; The red material on the handle is smooth ABS plastic; The black material of the handle is flexible matte rubber.

Screwdriver №4 Weight 0.127 kg; Material of the metal rod is stainless steel; Phillips tip is magnetized hard steel; Conical handle with a diameter at the base of 40 mm; The beginning of the handle is made of metal, which allows you to hit it with a hammer; The red material on the handle is matte ABS plastic; The black material of the handle is flexible matte rubber.

Screwdriver №5 Weight 0.0585 kg; Material of the metal rod is stainless steel; Flat tip is stainless steel; Wave-shaped handle with a diameter at the base of 30 mm; The black material on the handle is smooth ABS plastic, which is made with an attempt to imitate texture, however, due to the cheapness of the plastic, the frictional properties are practically not manifested and the plastic behaves as smooth.

Screwdriver №6 Weight 0.056 kg; Material of the metal rod is stainless steel; Phillips tip is magnetized hard steel; Spherical handle with a diameter of 32 mm, which then turns into a conical shape; Black material on the handle is matte ABS plastic; Red material of the handle is flexible matte rubber, imitating the shape of protruding diamonds.

Screwdriver №7 Weight 0.0625 kg; Material of the metal rod is stainless steel; The rod has a double-sided Phillips and a flat stainless steel tip; The handle is cylindrical in shape with a diameter at the base of 25 mm, with longitudinal grooves not reaching the base; The black material on the handle is smooth ABS plastic.

Screwdriver №8 Weight 0.0605 kg; Metal rod material stainless steel; Phillips tip magnetized hard steel; Wave-shaped handle with a diameter at the base of 26 mm; Black material on the handle is smooth ABS plastic.

Screwdriver №9 Weight 0.0855 kg; Material of the metal rod is stainless steel; Has many interchangeable tips made of magnetized hard steel; Ergonomically shaped handle with sides of 71 x 20 mm; The red material on the handle is smooth ABS plastic; The black material of the handle is flexible matte rubber.

Drill №1 Weight 1.040 kg; Classic power drill; Body material blue smooth ABS plastic; The upper part of the drill above the handle has a diameter of 60 mm; Black inserts near the handle are made of hard matte rubber.

Drill №2 Weight 0.284 kg; Charging drill with the ability to change the configuration from cylindrical to pistol; Body material is black smooth ABS plastic; The middle part of the drill has a diameter of 55 mm; Gray inserts near the handle are made of matte ABS plastic with rubberized black inserts.

Hammer №1 Weight 0.230 kg; Wooden hammer with anti-vibration core; Handle material varnished wood; Average handle diameter 20 mm; The main part of the hammer is stainless steel with a cavity where steel balls are placed to reduce vibration; Yellow elements of the hammer are made of hard rubber.

Hammer №2 Weight 0.742 kg; Steel hammer with a stainless steel base; Black handle material is textured ABS plastic; Average handle diameter is 32 mm; The main part of the hammer is hardened steel, and on the other side the handle is made of hard rubber.

Grasping Versatility

To test the ability of ARTiS to grasp and hold various tools (versatility) during disassembly, we selected three of the most widely used tools: a screwdriver (9 types), a hammer (2 types) and a drill (2 types). Compared to other tests for object grasping for pick-and-place operations, during disassembly, it is important not only whether the grasping is successful but also whether it is possible to reorient/use the tool and then release it in the original location. To do this, we attached an ARTiS gripping device with a control box to a collaborative 6 DoF robot arm UR-5e, which is installed 45 degrees to the worktable to which the tool holders are attached. The precise grasping consists of fixing the tool handle in the jamming palm and grasping the other end of the tool with fingertip 1. First stage is jamming, the fingers are fully opened, then moving vertically downwards the palm is deformed to the shape of the tool and reaching the maximum depth, air is sucked out of the palm, which increases the density of the palm and fixes the tool. Subsequently, the palm is lifted together with the fixed tool, and in the process, the fingers begin to close and fix the other part of the tool with the help of fingertip 1. After full grasping, depending on the need, the tool can be reoriented by changing the orientation of the fingers, or the tool can be used directly. Consequently, the tool is released in reverse order of the grasping process. In the case of power grasping, everything happens identically to precise grasping, fingertip 2 is used, and the tool is located on the table, not in the tool holder.

Jamming + Lifting

Grasping + Releasing

Grasping + Reor. + Releasing

Using Screwdriver №2

Using Drill №2

Scoring Table for Grasping Assessment

Failing Screwdriver №3

Failing Screwdriver №8

Failing Drill №1

Torque During Tightening

Torque During Unscrewing

Torque During Drilling

Task Versatility

Collaborative Usage

Collaborative usage of a gripping device ARTiS, in this case for fixing (to ensure stability of position and orientation) a part of the mechanism during disassembly: (0) - demonstration of the problem of part movement during interaction with a human; (1) - positioning the ARTiS palm on the surface of the part, pressing it against the table; (2) - correction of the position of the fingers relative to the gripper axis; (3) - correcting the orientation of the fingers relative to the finger axis; (4) - using palm jamming and finger clamping to fix the part; (5) - human work on unscrewing screws with a fixed part.

Breaking Parts

An important task during disassembly is to break the connections and parts of the structure to speed up the process. Using the power grasping/holding tools like a human, we can break the connections of parts, in our example, the composite connection of the car's air conditioner.

Wedge screwdriver into the gap

Driving a nail into wood

Power Sphere and Wrap Holding the Studying Tools by ARTiS

A portion of the instruments holding by ARTiS using two methods is presented.

Generalization Evaluation Using YCB Objects

YCB objects used for generalization evaluation by ARTiS is presented.

Statistics

GRIPPER ABLATION USING SCREWDRIVERS - An analysis of the use of two screwdrivers under identical grasping conditions, but the screwdrivers have different geometric parameters: the first had a total length L = 230 (Screwdriver 2), the second L = 180 mm (Screwdriver 4). All other geometric and contact parameters, finger position L1 = 120 mm, palm radius rp = 40 mm, and tool radius rf = 3.25 mm were kept constant. TORQUE-BASED PERFORMANCE EVALUATION - This appendix provides a detailed analysis of the interaction of a screwdriver with an active jamming palm during fastening.

GRIPPER ABLATION USING SCREWDRIVERS

TORQUE-BASED PERFORMANCE EVALUATION

Acknowledgment

The authors thank New Energy and Industrial Technology Development Organization (NEDO) Exploratory Research Program and Denso Robotics for their support of this project.

ARTiS

@misc{mykhailyshyn2026artis,
	title = {ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications},
	url = {https://doi.org/10.1109/TASE.2026.3731571},
	doi = {10.1109/TASE.2026.3731571},
  journal = {IEEE Transactions on Automation Science and Engineering},
	publisher = {IEEE},
	author = {Mykhailyshyn, Roman and Domae, Yukiyasu and Harada, Kensuke},
	year = {2026}}