This paper presents an anthropomorphic robotic hand named “KITECH-Hand,” along with its
kinematic analysis and detailed mechanical features. From a kinematic perspective, the …

This paper presents a hybrid fuzzy decoupling control strategy, and its implementation for
leveling and positioning a maglev wafer carrier in an integrated circuit (IC) packaging …

This research presents the design, modeling, and control for a bio-inspired robotic hand with
antagonistic variable stiffness (AVS). A key design character is the integrated modular finger …

The dual-drive H-gantry is widely used for high-speed, high-precision Cartesian motion.
Compared with the conventional rigid-linked design, the flexure-linked counterpart is able to …

A novel analytical modeling and dynamic manipulation control method of the multi-fingered
hand robot has been proposed in the paper. Based on the contact constraints, the explicit …

This paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand
manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only …

This study traces the development of dexterous hand research and proposes a novel
antagonistic variable stiffness dexterous finger mechanism to improve the safety of …

Traditionally, most of the nonlinear control techniques for elastic robotic systems focused on
achieving a desired closed-loop behavior by modifying heavily the intrinsic properties of the …

This article proposes a novel differential kinematics of elastic tendons for tendon-driven
manipulators where tendons transmit actuator force/torque to remote links via a train of …

Due to the disturbance of couplings, the anthropomorphic finger lacks sufficient stability and
accuracy in joint motion control, which further affects the performance of complex grasping …