A dexterous soft robotic hand for delicate in-hand manipulation
S Abondance, CB Teeple… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
In this letter, we show that soft robotic hands provide a robust means of performing basic
primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design …
primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design …
Orientation and workspace analysis of the multifingered metamorphic hand—Metahand
This paper introduces for the first time a metamorphic palm and presents a novel
multifingered hand, known as Matahand, with a foldable and flexible palm that makes the …
multifingered hand, known as Matahand, with a foldable and flexible palm that makes the …
Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper
We introduce a reconfigurable underactuated robot hand able to perform systematic
prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two …
prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two …
An underactuated hand for efficient finger-gaiting-based dexterous manipulation
This paper presents a minimalist, four-finger hand comprised of two pairs of tendon-driven,
underactuated fingers decoupled by an independent, central, rotating axis. This mechanical …
underactuated fingers decoupled by an independent, central, rotating axis. This mechanical …
Mechatronic design of an integrated robotic hand
Historically, robotic hand research has tended to focus on two areas: severely
underactuated hands, and high-degree-of-freedom fully actuated hands. Comparatively little …
underactuated hands, and high-degree-of-freedom fully actuated hands. Comparatively little …
Posture, workspace, and manipulability of the metamorphic multifingered hand with an articulated palm
This paper presents a novel multifingered hand with an articulated palm that makes the
hand adaptable and reconfigurable. The posture of the new multifingered hand is enhanced …
hand adaptable and reconfigurable. The posture of the new multifingered hand is enhanced …
Spherical hands: Toward underactuated, in-hand manipulation invariant to object size and grasp location
Minimalist, underactuated hand designs can be modified to produce useful, dexterous, in-
hand capabilities without sacrificing their passive adaptability in power grasping …
hand capabilities without sacrificing their passive adaptability in power grasping …
A linkage-driven underactuated robotic hand for adaptive grasping and in-hand manipulation
G Li, X Liang, Y Gao, T Su, Z Liu… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
The development of robotic hand that can imitate human movements has always been an
important research topic. In this paper, a linkage-driven underactuated three-finger hand is …
important research topic. In this paper, a linkage-driven underactuated three-finger hand is …
Design and analysis of a multimodal grasper having shape conformity and within-hand manipulation with adjustable contact forces
N Govindan, A Thondiyath - Journal of …, 2019 - asmedigitalcollection.asme.org
This paper presents the design, analysis, and testing of a novel multimodal grasper having
the capabilities of shape conformation, within-hand manipulation, and a built-in compact …
the capabilities of shape conformation, within-hand manipulation, and a built-in compact …
A dexterous gripper for in-hand manipulation
N Rahman, L Carbonari, M D'Imperio… - 2016 IEEE …, 2016 - ieeexplore.ieee.org
During the last few decades, robotic grippers are developed by research community to solve
grasping complexities of several objects as their primary objective. Due to the increasing …
grasping complexities of several objects as their primary objective. Due to the increasing …