We describe a simple passive universal gripper, consisting of a mass of granular material
encased in an elastic membrane. Using a combination of positive and negative pressure …

Continuum robotic manipulators articulate due to their inherent compliance. Tendon
actuation leads to compression of the manipulator, extension of the actuators, and is limited …

For both humans and robots, tactile sensing is important for interaction with the environment:
it is the core sensing used for exploration and manipulation of objects. In this paper, we …

This paper proposes a biomechatronic approach to the design of an anthropomorphic
artificial hand able to mimic the natural motion of the human fingers. The hand is conceived …

An important ability of a robot that interacts with the environment and manipulates objects is
to deal with the uncertainty in sensory data. Sensory information is necessary to, for …

Robot teleoperation, a control method allowing human operators to manipulate robotic
systems remotely, has become increasingly popular in construction applications. A …

This paper analyzes tendon-driven mechanisms (TDMs) with active and passive tendons
and proposes a method for designing TDMs. First, we group TDMs into six classes …

This paper examines joint coupling in underactuated robotic grippers for unstructured
environments where object properties and location may not be well known. A simplified …

In this paper, we present a novel tactile-array sensor for use in robotic grippers based on
flexible piezoresistive rubber. We start by describing the physical principles of piezoresistive …

This paper examines the nature of joint coupling in underactuated grippers for environments
where object properties and location may not be well known. A grasper consisting of a pair …