3 papers
cs.RO2026
Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation
Hyojae Kang, Hyun-mok Jung, Joonho Lee +4
This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordina…
cs.RO2026
Combinatorial Optimization of Robotic Hand Kinematic Structures Using a Potential-Dexterity-Based QUBO Formulation
HyoJae Kang, Yeong Jae Park, Jeongdo Ahn +1
Robotic hand kinematic design involves combinatorial selection among multiple finger structures whose performance depends on both individual kinematic characteristics and inter-fin…
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…