3 papers
cs.RO2026
A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands
HyoJae Kang, Yeong Jae Park, Hyunmok Jung +2
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thu…
cs.RO2026
Learning-augmented robotic automation for real-world manufacturing
Yunho Kim, Quan Nguyen, Taewhan Kim +2
Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control…
cs.RO2026
Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity
HyoJae Kang, Joonho Lee, Jeongdo Ahn +1
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or man…