3 papers
cs.RO2025
Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
Thomas Buchner, Stefan Weirich, Alexander M. Kübler +2
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid fea…
cs.RO2025
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
Adrian Hess, Alexander M. Kübler, Benedek Forrai +2
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, a…
cs.RO2024
Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb
Arnaud Bersier, Matteo Leonforte, Alessio Vanetta +6
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotogr…