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Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…
Robotic manipulation in unstructured, humancentric environments poses a dual challenge: achieving the precision need for delicate free-space operation while ensuring safety during unexpected contact events. Traditional wrists struggle to…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of immersed piping. The kinematic analysis of…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freedom tendon-driven wrist. These four…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…
Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Existing soft end-effectors face fundamental…
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…
The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…
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…