6 accepted papers
Harvesting, gripping, and handling of fruit and vegetables require end-effectors that ensure grip stability while, at the same time, minimizing surface damage and bruising. Conventional rigid or partially compliant solutions often generate localized load concentrations and require high positioning a…
Patients suffering from neurological and musculoskeletal disorders often experience impaired upper limb function, significantly reducing their quality of life. In recent years, wearable robots have emerged as a promising solution to facilitate rehabilitation and assist in daily activities. Among the
The large majority of legged robots currently employ ball-feet or flat-feet. More recently soft feet have been introduced, to improve walking performance on uneven grounds. Nevertheless, their novel adaptability requires sensor systems beyond traditional Force/Torque sensors to estimate the distribu
Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an a
Sensing contact forces can be a key enabler for higher order dexterous manipulation in robotic hands. To sense the full range of contact pressure distribution would provide the best solution, but it is in practice unfeasible when considering very deformable and adaptable hands. This paper proposes a…
State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions