5 papers
Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
Chunghyeon Lee, Hyukjun Kwon, Sungeon Kim +2
Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side…
Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction
Joon Lee, Ari Choi, Seokhwan Jeong
Conventional robotic grippers often use high-ratio transmissions to generate grasping torque and external force sensors to measure physical interaction. High-ratio transmissions in…
Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness
Eunkyu Choi, Joonho Seo, Seungmin Lee +1
This paper presents a sensor-minimal automated assembly system for bidirectional single-row flat ribbon cable harnesses (FRCHs). Unlike conventional peg-in-hole or single-terminal…
Why Look at It at All?: Vision-Free Multifingered Blind Grasping Using Uniaxial Fingertip Force Sensing
Edgar Lee, Junho Choi, Taemin Kim +2
Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, a…
RIM Hand : A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure
Joon Lee, Jeongyoon Han, Doyoung Kim +1
This paper presents the flexible RIM Hand, a biomimetic robotic hand that precisely replicates the carpometacarpal (CMC) joints and employs superelastic Nitinol wires throughout it…