Abstract: This article aims at presenting a detailed and practical comparison between three designs of robotic soft fingers for industrial grippers. While the soft finger based on the fin ray effect (FRE) shown here has been proposed ...

Abstract: Almost all walking robots are composed of two or more multidegreesoffreedom (DOFs) legs which give them a good ability to traverse obstacles. Nevertheless, their speed and efficiency when traversing rough terrains is, in ...

Abstract: The sense of touch has always been challenging to replicate in robotics, but it can provide critical information when grasping objects. Nowadays, tactile sensing in artificial hands is usually limited to using external ...

Abstract: This paper proposes a novel method to investigate the grasp sequence of an underactuated (a.k.a. adaptive) finger with three degrees of freedom but only one actuator and find its final configuration. This method considers ...

Abstract: In this paper, we introduce a mechanism consisting of a pair of noncircular pulleys with a constant-length cable. While a single noncircular pulley is generally limited to continuously winding or unwinding, the differential ...

Abstract: In this paper, the performance augmentation of underactuated fingers through additional actuators is presented and discussed. Underactuated, also known as self-adaptive, fingers typically only rely on a single actuator for ...

Abstract: In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea ...