Results 31 to 40 of about 2,057 (208)
IEEE Access, 2015 Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to
Kuat Telegenov +2 more
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Bio-Inspired Tendon-Driven Finger Design With Isomorphic Ligamentous Joint
IEEE Access, 2020 This paper suggests a novel type of bio-inspired finger design in that the joints that compose the finger mimic the features of human finger joints. They have isomorphic structures but different movements, further, there is no friction between bones in ...
Geon Lee, Youngjin Choi
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A simple design rule for 1st order form-closure of underactuated hands [PDF]
, 2010 The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space.
S. Krut, V. Bégoc
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Reactive Planar Manipulation with Convex Hybrid MPC
, 2018 This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictive Control (MPC) formulation, where the goal is to find an optimal sequence
Grau, Eudald Romo +2 more
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Underactuated comanipulation for ultrasound breast exams [PDF]
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013 We investigate the possibility of providing adequate task assistance using under-actuated robots for human-robot tool co-manipulation. This novel approach optimizes robot-user synergy without taking into account any a priori knowledge of parameters depending on the user.
Marx, Anja +3 more
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A Body-Powered Underactuated Prosthetic Finger Driven by MCP Joint Motion
RoboticsThis study presents the design, fabrication, and clinical validation of a lightweight, body-powered prosthetic index finger actuated via metacarpophalangeal (MCP) joint motion.
Worathris Chungsangsatiporn +5 more
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Applied Sciences, 2023 This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances.
Xiaoming Xia +2 more
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A highly-underactuated robotic hand with force and joint angle sensors [PDF]
, 2011 This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand,
Allen, Peter K. +4 more
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Underactuated Finger Design: A Minimalistic Approach Toward Biomimetic Prosthetic Finger
IEEE AccessDexterous prosthetic hands with a simple design are the need of the hour. The limiting factor for prosthetic hands is the structure, functionality, and control of the fingers and the thumb.
Vignesh Sompur +2 more
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Passive Reaction Analysis for Grasp Stability
, 2018 In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints, respond in ...
Ciocarlie, Matei +2 more
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