1 citations · 2 across the 6 of their papers we have counts for
6 papers
Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
Yue Feng, Weicheng Huang, Chen Qiu +2
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench…
Theoretical Model Construction of Deformation-Force for Soft Grippers Part I: Co-rotational Modeling and Force Control for Design Optimization
Huixu Dong, Haotian Guo, Sihao Yang +3
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios.…
Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing
Huixu Dong, Ziyi Zheng, Haotian Guo +4
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging…
Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
Huixu Dong, Yue Feng, Chen Qiu +3
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and s…
GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure
Huixu Dong, Chao-Yu Chen, Chen Qiu +2
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted consid…
Enabling Grasp Action: Generalized Evaluation of Grasp Stability via Contact Stiffness from Contact Mechanics Insight
Huixu Dong, Chen Qiu, Dilip K. Prasad +3
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on…