Rina Kusuhara

2 accepted papers

2025

State Torque Synergy-Based Comprehensive Design Method for Wire-Driven Flexible Robot Hands

RA-L 2025

This paper presents a novel design method for wire-driven flexible robot hands. Conventional methods generally focus on the correlation patterns of desired postures called postural synergy. In contrast, the proposed method introduces state torque aggregating the influence of posture, contact force,

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2024

Task-Oriented Design Method for Monolithic Flexible Hands with Wire Drive Systems

Rina Kusuhara, Mitsuru Higashimori

IROS 2024poster

This paper discusses a novel task-oriented design method for wire-driven flexible hands. For a monolithic hand fabricated using 3D printing, an analytical design method is proposed to enable it to perform the given tasks. First, the wiring-synergy equation, which relates the parameters of the hand m…

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