Proteus: Adaptive Robotic Gripper
Master's Thesis: A novel force-proprioceptive underactuated robotic gripper with improved small cylinder grasping and collision robustness
Affiliation:
Northeastern University: Master's Thesis
Role:
Time Range:
Project Lead, Sole Mechanical Design Engineer
2024-Present
Skills:
Mechanical Design, CAD (SolidWorks), Conceptualization, Parametric Design, Brushless Motors, Frameless Motors, Motor Drivers, Underactuated Mechanisms, Complex Motion, Parallel Linkages, Precision Motion, Machining, Additive Manufacturing, Vendor Communication, Low-Impedance Systems, Teleoperation, Robotic Manipulation, System Controls, Optimization, Precision Sensing, Technical Writing, Technical Communication, Failure Analysis,
Background:
This project was my master's thesis project, which was my primary research effort for the duration of my master's degree. The project was an effort to produce the best possible planar adaptive robotic gripper, with low impedance and force-proprioception suitable for teleoperation. This project went on to push my critical thinking and problem-solving skills to new levels, developing novel geometry and energy-based optimization techniques to get the best behavior out of the novel linkage mechanism discovered for this project. It also improved my mechanical design skills, with a new understanding of precision design/preload, complex packing problems, parametric design, and dynamic actuation.
Images:
My Contributions:
• Designed new linkage for underactuated robotic gripper from first principles
• Built and designed handheld prototype to test and refine kinematics and contact behavior
• Ran motion simulations to assess and quantify object interactions
• Performed mechanical analysis for advanced prototype, including reflected inertia, friction, dynamic, impedance, failure, and load analysis.
• Worked with manufacturers to produce custom and high performance motors and motion components
• Designed frameless motor linear actuator for ultra-low cogging and reflected inertia actuation
• Developed modular rotary linkage joints with preloaded bearing pairs
• Designed and built a high-fidelity gripper for teleoperation and research
• Developed optimization techniques for parallel underactuated linkages, including geometric behavior constraint and energy-based stability analysis
• Wrote and defended my thesis: "Proteus: A Force-Proprioceptive Adaptive Robotic Gripper with Enhanced Caging Behavior and Range of Motion"
• Presented gripper prototype at NERC 2024
• Working towards master's thesis and RA-L paper submissions
Outcomes:
I successfully defended this project as my thesis in April 2025. In just 10 months, I discovered the novel underactuated mechanism, refined and optimized the kinematics, build a prototype, and then designed and built a force-proprioceptive gripper that is ready for use in research and teleoperation. This project has had an immeasurable impact on my skills, and I am really excited about all of the new knowledge and techniques I gained during the process.