3 accepted papers
Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constrain
Low stiffness in 7-DOF cable-driven humanoid manipulators limits their precision, posing a significant challenge in complex human-robot interaction (HRI) scenarios. This paper presents a motion planning framework to enhance manipulator stiffness for both single and dual-arm configurations. For a sin
The lightweight design of robots is an important factor in the field of human-robot interaction. Thus, a lightweight 7-DOF cable-driven manipulator is proposed and manufactured, including a shoulder joint with 3-DOF, an elbow joint with 1-DOF, and a wrist joint with 3-DOF. The offset design of the s