Simon Fritsch — accepted AI-conference papers

2025

Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five

Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca +6

IROS 2025

This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipulation poses beyond human capability, and reduce the required number of actuators. This is achieved by combining the adduc

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2024

Static Modeling of the Stiffness and Contact Forces of Rolling Element Eccentric Drives for Use in Robotic Drive Systems

Simon Fritsch, Stefan Landler, Michael Otto, Birgit Vogel-Heuser, Markus Zimmermann, Karsten Stahl

IROS 2024poster

Rolling element eccentric drives promise to be an easy-to-manufacture and performant gear system for robotic actuators. They share characteristics with other eccentric drives, such as strain wave and cycloidal drives, but use rolling elements instead of an eccentric gear. They offer reduced manufact…

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