7 accepted papers
Humans use their limbs to perform various movements to interact with an external environment. Thanks to limb's variable and adaptive stiffness, humans can adapt their movements to the external unstable dynamics. The underlying adaptive mechanism has been investigated, employing a simple planar devic
This work presents a novel object-level control framework for the dexterous in-hand manipulation of objects with torque-controlled robotic hands. The proposed impedance-based controller realizes the compliant 6-DOF positioning of a grasped object. Enabled by the in-hand localization, the slippage of
Robotic manipulation of such highly deformable objects as clothes is a challenging problem. Robot-assisted dressing adds even more complexity as the garment motions must be aligned with a human body under conditions of strong and variable occlusion. As a step toward solutions for the general task, w
Our fingernails help us to accomplish a variety of manual tasks, but surprisingly only a few robotic hands are equipped with nails. In this paper, we present a sensorized fingernail for mechatronic hands that can capture static and dynamic interaction forces with the nail. Over the course of several…
We present a novel force-limitation algorithm to protect fragile robot actuation and transmission systems (like tendon-driven systems) from early wear-out. Inspired by human muscle fatigue, we model artificial actuator fatigue by integrating applied forces over time, gradually limiting applicable fo…
The advent of advanced tactile sensing technology triggered the development of methods to employ them for grasp evaluation, online slip detection, and tactile servoing. In contrast to recent approaches to slip detection, distinguishing slip from non-slip conditions, we consider the more difficult ta…
We present a novel, soft, tactile skin composed of a fabric-based, stretchable sensor technology based on the piezoresistive effect. Softness is achieved by a combination of a soft silicone padding covered by a skin of more durable, tearproof silicone with an imprinted surface pattern mimicking huma…