6 papers
Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing
Lukas Cha, Sonja GroÃ, Shuai Mao +3
As robotics advances toward integrating soft structures, anthropomorphic shapes, and complex tasks, soft and highly stretchable mechanotransducers are becoming essential. To reliab…
Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers
Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni +2
This study addresses the critical need for diverse and comprehensive data focused on human arm joint torques while performing activities of daily living (ADL). Previous studies hav…
Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices
Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li +3
Markerless motion capture devices such as the Leap Motion Controller (LMC) have been extensively used for tracking hand, wrist, and forearm positions as an alternative to Marker-ba…
Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms
Christopher Herneth, Amartya Ganguly, Sami Haddadin
Prosthetic limb abandonment remains an unsolved challenge as amputees consistently reject their devices. Current prosthetic designs often fail to balance human-like perfomance with…
Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger
Junnan Li, Lingyun Chen, Johannes Ringwald +3
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to…
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Sonja GroÃ, Michael Ratzel, Edgar Welte +6
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic a…