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Passive and effective fluid capture and transport at small scale is crucial for industrial and medical applications, especially for the realisation of point-of-care tests. Performing these tests involves several steps including biological…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
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…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…
We introduce the Grasp EveryThing (GET) gripper, a novel 1-DoF, 3-finger design for securely grasping objects of many shapes and sizes. Mounted on a standard parallel jaw actuator, the design features three narrow, tapered fingers arranged…
The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such…
Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
This paper presents a decentralized methodology for detecting and mitigating flapping phenomena in power systems, primarily caused by the operation of discrete devices. The proposed approach applies moving-window autocorrelation to local…
A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold's dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the…
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Super-hydrophobic array of grooves containing trapped gas (stripes), have the potential to greatly reduce drag and enhance mixing phenomena in microfluidic devices. Recent work has focused on idealized cases of stick-perfect slip stripes,…
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…