6 papers
A Benchmark of Dexterity for Anthropomorphic Robotic Hands
Davide Liconti, Yuning Zhou, Yasunori Toshimitsu +2
Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with diffe…
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour +2
Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity with physical compliance. While traditional rigid hands rely on complex ex…
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
Simon Fritsch, Liam Achenbach, Riccardo Bianco +9
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipula…
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis +8
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast da…
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artifici…
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…