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Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces,…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no…
The mechanical properties of a disordered heterogeneous medium depend, in general, on a complex interplay between multiple length scales. Connecting local interactions to macroscopic observables, such as stiffness or fracture, is thus…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…
This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator.…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…
Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concept validation of a monolithic, fully…