Abstract: This paper aims at providing a method to synthesize mechanical architectures of self-adaptive robotic fingers driven by linkages. Self-adaptive mechanisms are used in robotic fingers to provide ...

Abstract: This paper presents the development of an underactuated compliant gripper using a biocompatible superelastic alloy, namely, nitinol. This gripper has two fingers with five phalanges each and can ...

Abstract: This paper studies the grasp stability of two classes of three-phalanx underactuated fingers with transmission mechanisms based on either linkages or tendons and pulleys. The concept of underactuation ...

Abstract: This paper presents a robust design scheme for an inertial measurement unit (IMU) composed only of accelerometers. From acceleration data measured by a redundant set of accelerometers, the IMU ...