Related papers: Structured Pneumatic Fingerpads for Actively Tunab…
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
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…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Friction is a complicated phenomenon involving nonlinear dynamics at different length and time scales[1, 2]. The microscopic origin of friction is poorly understood, due in part to a lack of methods for measuring the force on a…
The internal structure of the Fin-Ray fingers plays a significant role in their adaptability and grasping performance. However, modeling the grasp force and deformation behavior for design purposes is challenging. When the Fin-Ray finger…