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Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers,…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…