Related papers: Educational SoftHand-A: Building an Anthropomorphi…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider…
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…
This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. In addition, a digital…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…
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…
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…
Mechanics and electronic systems can be applied to the physical models to understand the physical phenomena for students in laboratory. In this paper we have developed a robot arm for a laboratory experiment, where students learn how to…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…