4 accepted papers
This paper presents the design, development, and testing of a soft 3D-printed endoskeleton for arbitrary cable routing in tendon-driven soft actuators. The endoskeleton is embedded in a silicone body, and it is fixed to the mold prior to the casting process. It enables tendons to be placed through p
This paper presents the design, development, and testing of a soft 3D-printed endoskeleton for arbitrary cable routing in tendon-driven soft actuators. The endoskeleton is embedded in a silicone body, and it is fixed to the mold prior to the casting process. It enables tendons to be placed through p…
The torso of a humanoid robot is a fundamental part of its kinematic structure because it defines the reachable workspace, supports the entire upper-body and can be used to control the position of the center of mass. The majority of the torso joints are designed exploiting serial or differential mec…
In recent years the robotics field has witnessed an interesting new trend. Several companies started the production of service robots whose aim is to cooperate with humans. The robots developed so far are either rather expensive or unsuitable for manipulation tasks. This article presents the result…