Related papers: A Modular Bio-inspired Robotic Hand with High Sens…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. Today's multi-fingered robotic hands are effective in power…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…
We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior during manipulation. \rrev{By mechanically organizing how…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…
Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and rigid precision. Achieving similar versatility in robotic…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…