A Versatile, Multiple Prehension, Compliance Controlled     Robotic End-Effector
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'K. (Cheena) Srinivasan', 'PO_EMAI': None, 'PO_PHON': None}
This research will investigate a novel robot hand which utilizes                rubber fingers which bend to grasp an object when their internal                pressure is elevated.  The bending of the fingers is accomplished               by employing non-uniform wall thickness in the fingers, and the                 bending mechanism is controlled by a single variable (the                       internal pressure).  Using rubber actuators (fingers) drastically               reduces the number of control variables of the artificial fingers               without restricting its maneuverability.  The novel robot hand                  should be capable of gripping objects of various shapes and                     sizes, applying various grasping modes,  modifying the compliance               of the grip, and performing limited object manipulations.  The                  research will investigate a design to enable the base angle of                  each finger to be controlled independently which should                         significantly enhance the object manipulation capabilities of the               hand.  The incorporation of tactile sensing to control the                      contact forces and gripping compliance will also be investigated.
{'FirstName': 'Uri', 'LastName': 'Tasch', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Uri Tasch', 'EmailAddress': 'tasch@engr.umbc.edu', 'NSF_ID': '000304786', 'StartDate': '03/15/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Pennsylvania State Univ University Park', 'CityName': 'UNIVERSITY PARK', 'ZipCode': '168021503', 'PhoneNumber': '8148651372', 'StreetAddress': '201 OLD MAIN', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Pennsylvania', 'StateCode': 'PA', 'CONGRESSDISTRICT': '15', 'CONGRESS_DISTRICT_ORG': 'PA15', 'ORG_UEI_NUM': 'NPM2J7MSCF61', 'ORG_LGL_BUS_NAME': 'THE PENNSYLVANIA STATE UNIVERSITY', 'ORG_PRNT_UEI_NUM': None}
{'Name': None, 'CityName': None, 'StateCode': None, 'ZipCode': None, 'StreetAddress': None, 'CountryCode': None, 'CountryName': None, 'StateName': None, 'CountryFlag': None, 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_PERF': '""'}
{'Code': '1468', 'Text': 'Manufacturing Machines & Equip'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8707870.xml'}