Related papers: Directly 3D Printed, Pneumatically Actuated Multi-…
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…
Designing robotic hands for specific tasks could help in the creation of optimized end-effectors for grasping and manipulation. However the systematic design of robotic hands for a simultaneous task of all fingertips presents many…
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…
This paper shows a detailed modeling of three-link robotic finger that is actuated by nylon artificial muscles and a simulink model that can be used for numerical study of a robotic finger. The robotic hand prototype was recently…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time…
Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoid hand with 11 degrees of freedom - 2…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation…
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…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
Mechanical metamaterials actuators achieve pre-determined input--output operations exploiting architectural features encoded within a single 3D printed element, thus removing the need of assembling different structural components. Despite…
Three-dimensional (3D) printing has emerged as a powerful tool for material, food, and life science research and development, where the technology democratization necessitates the advancement of open-source platforms. Herein, we developed a…
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances in reinforcement learning (RL) frameworks have achieved…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and…