4 papers
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…
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…
A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models
HyoJae Kang, Joonho Lee, Hyunmok Jung +1
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry o…
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…