This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven
by five actuators that is capable of performing a wide range of grasping and in-hand …

This article reviews the literature on the design of robotic mechanical grippers, with a focus
on the mechanical aspects, which are believed to be the main bottleneck for effective …

Motivated by the requirements of mobile manipulation, a compliant underactuated hand,
capable of locking individual joints, has been developed. Locking is accomplished with …

This paper describes the development of a legged robot designed for general locomotion of
complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex …

This paper presents a lightweight (328 g) anthropomorphic robot hand that can exert a large
grasping force. We propose a mechanism combining flexion drives and a force …

This paper proposes a modular and reconfigurable cable-driven robotic grasper (MoReCa
grasper) for grasping diverse unknown objects in unstructured environments, which …

The demands of mobile manipulation are leading to a new class of multi-fingered hands with
a premium on being lightweight and robust as well as being able to grasp and perform basic …

In this letter, we propose a 2-speed small transmission mechanism based on twisted string
actuation (TSA). The proposed mechanism achieves a compact and simplified two-stage …

We present a novel powered knee prosthesis with an active variable transmission (AVT) that
adapts motor torque and speed output based on the requirements of different ambulation …

This paper presents a study on a novel passively variable transmission (PVT) which is
capable of operating in a wide range of transmission ratios. The developed device is light …