10 accepted papers
Coaxial rotors used on multirotor Micro Aerial Vehicles (MAVs) are complex aerodynamic systems that are typically treated in a simplified manner, operating in sub-optimal conditions. In this letter, we propose: i) an open-source benchmarking platform for coaxial rotor systems that allows us to analy
With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with such devices. However, EMG-based interfaces typically require ap
As manufacturing trends shift towards customized production, the demand for agile automation systems capable of efficient adaptation to rapidly changing task requirements is rising. This work presents a flexible robotic assembly system that combines CAD based component localization, compliance contr
The human hand is Nature's most versatile and dexterous end-effector and it has been a source of inspiration for roboticists for over 50 years. Recently, significant industrial and research effort has been put into the development of dexterous robot hands and grippers. Such end-effectors offer robus
Soft, lightweight, underactuated assistive gloves (exogloves) can be useful for enhancing the capabilities of a healthy individual or to assist the rehabilitation of patients who suffer from conditions that limit the mobility of their fingers. However, most solutions found in the literature do not o
Soft, underactuated, and compliant robotic exo-gloves have received an increased interest over the last decade. Possible applications of these systems range from augmenting the capabilities of healthy individuals to restoring the mobility of people that suffer from paralysis or stroke. Despite the s
In this paper, we propose a hybrid methodology based on a combination of analytical, numerical and machine learning methods for performing dexterous, in-hand manipulation with simple, adaptive robot hands. A constrained optimization scheme utilizes analytical models that describe the kinematics of a…
In this paper we present an open-source design for the development of low-complexity, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism. The differential mechanism used is a variation of the whiffletree (or seesaw) mechanism, which introduces a set of lock…
In this paper we introduce an index for the quantification of anthropomorphism of robot arms. The index is defined as a weighted sum of specific metrics which evaluate the similarities between the human and robot arm workspaces, providing a normalized score between 0 (non-anthropomorphic artifacts)…
In this paper we present a methodology for discriminating between different objects using only a single force closure grasp with an underactuated robot hand equipped with force sensors. The technique leverages the benefits of simple, adaptive robot grippers (which can grasp successfully without prio…