Abstract: This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks ...

Abstract: Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from ...

Abstract: The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as ...

Abstract: In this research, a statically-balanced direct-drive manipulator is designed and constructed to achieve improved dynamic behavior for compliance control [10, 11, 12]. The manipulator mechanism, ...

Abstract: This paper deals with a system, which is subjected to very uncertain factors: human and environment. These independent uncertainties are dealt with explicitly on the framework of μ-synthesis. ...

Abstract: The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at the University of California, Berkeley, walking at the average speed of 1.3m∕s(2.9mph) while carrying ...

Abstract: This work presents a method for robotic deburring of two-dimensional planar parts with unknown geometry. Robotic deburring requires “compliancy” and “stiffness” in the robot in the directions ...

Abstract: This article introduces three areas of study: 1 telefunctioning; 2 a control method for producing telefunctioning; and 3 an analysis of human-robot interaction when telefunctioning governs the ...

Abstract: This article describes the dynamics, control, and stability of extenders, robotic systems worn by humans for material handling tasks. Extenders are defined as robot manipulators which extend ...

Abstract: The work presented here is a nonlinear approach for the stability analysis of robot manipulators in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has ...