4 papers · 1 filter
A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range
JaeHyung Jang, Jee-Hwan Ryu
This letter presents a compact two-degree-of-freedom (DoF) robotic finger with a flexion-selective passive continuously variable transmission (CVT) to achieve a wide force-speed op…
MORPH Wheel: A Passive Variable-Radius Wheel Embedding Mechanical Behavior Logic for Input-Responsive Transformation
JaeHyung Jang, JuYeong Seo, Dae-Young Lee +1
This paper introduces the Mechacnially prOgrammed Radius-adjustable PHysical (MORPH) wheel, a fully passive variable-radius wheel that embeds mechanical behavior logic for torque-r…
SPINE Gripper: A Twisted Underactuated Mechanism-based Passive Mode-Transition Gripper
JaeHyung Jang, JunHyeong Park, Joong-Ku Lee +1
This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmissi…
Teaching Robots to Handle Nuclear Waste: A Teleoperation-Based Learning Approach<
Joong-Ku Lee, Hyeonseok Choi, Young Soo Park +1
This paper presents a Learning from Teleoperation (LfT) framework that integrates human expertise with robotic precision to enable robots to autonomously perform skills learned fro…