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cs.RO2026
SHAFT: A Slack-Compensating, Helical-Buckling-Attenuating Flexible-Shaft Transmission for Lightweight Multi-DoF Manipulation
Tomoya Takahashi, Moses Gladson Selvamuthu, Richiro Tadakuma +1
Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using remote transmission mechanisms, such as wire-driven or Bowden cables,…
cs.RO2026
Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez +2
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and designed with motors enclosed inside to prote…