2026
Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction
ICRA 2026poster
Conventional robotic grippers relying on external force sensors or high gear-ratio actuators suffer from high mechanical impedance and limited control bandwidth. To address these limitations, this study proposes a novel 9-DOF, three-fingered Direct-Drive Differential (DDD) gripper that integrates DD…