相关论文: Third-party Evaluation of Robotic Hand Designs Usi…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…

Modeling and simulating soft robot hands can aid in design iteration for complex and high degree-of-freedom (DoF) morphologies. This can be further supplemented by iterating on the design based on its performance in real world manipulation…

This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers with three to four DoF is analyzed,…

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…

This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…

Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…

In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…

Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…

Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with different systems evaluated under disparate criteria, making…

Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…

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…

We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…

The purpose of this paper is to present the construction and programming of a five degrees of freedom robotic arm which interacts with an infrared sensor for the identification and sorting of different sized objects. The main axis of the…