We present a fiber reinforced soft pneumatic actuator with integrated strain and pressure
sensors. We demonstrate that combining these sensors into the same actuator enables …

Background Functionality, controllability and cosmetics are the key issues to be addressed
in order to accomplish a successful functional substitution of the human hand by means of a …

In this paper we discuss the potential of applying our concept for a robotic hand fabricated
via Shape Deposition Manufacturing (SDM) as a prosthetic terminal device. Experimental …

Although substantial progresses have been made in building prosthetic hands, lack of
mechanical robustness still restrains wide adoption of robotic hand prostheses. This paper …

We present the Visiflex, an inexpensive compliant tactile fingertip capable of contact
localization and 6 degree-of-freedom (dof) contact force and torque measurement. Because …

Although substantial progresses have been made in building anthropomorphic robotic
hands, lack of mechanical robustness, dexterity and force sensation still restrains wide …

This paper presents a computational method to design a compliant finger for robotic
manipulations. As traditional mechanical fingers require bulky electromagnetic motors and …

Typical robot platforms comprise rigid links with fixed degrees-of-freedom, solid blocks of
transmission and actuator, and superficial positioning of sensors: they are often optimized …

Purpose This work presents the mechanical design of 4 configurations of compliant fingers
in order to address the need for commercially feasible prosthetic and robotic hands …

This thesis presents the development of custom vision-based tactile sensors for dexterous
manipulation in robotic fingertips and manipulation primitives for single-finger manipulation …