3 papers
cs.RO2025
SCAL for Pinch-Lifting: Complementary Rotational and Linear Prototypes for Environment-Adaptive Grasping
Wentao Guo, Wenzeng Zhang
This paper presents environment-adaptive pinch-lifting built on a slot-constrained adaptive linkage (SCAL) and instantiated in two complementary fingers: SCAL-R, a rotational-drive…
cs.RO2025
Hoecken-D Hand: A Novel Robotic Hand for Linear Parallel Pinching and Self-Adaptive Grasping
Wentao Guo, Wenzeng Zhang
This paper presents the Hoecken-D Hand, an underactuated robotic gripper that combines a modified Hoecken linkage with a differential spring mechanism to achieve both linear parall…
cs.RO2025
A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints
Wentao Guo, Yizhou Wang, Wenzeng Zhang
This paper presents a novel underactuated adaptive robotic hand, Hockens-A Hand, which integrates the Hoeckens mechanism, a double-parallelogram linkage, and a specialized four-bar…