Angus Clark

The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation

We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilises a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers---jointly contr…