Sophie Sakka

2 accepted papers

2016

ALPHA: A hybrid self-adaptable hand for a social humanoid robot

Giulio Cerruti, Damien Chablat, David Gouaillier, Sophie Sakka

IROS 2016poster

This paper presents a novel design of a compact and light-weight robotic hand for a social humanoid robot. The proposed system is able to perform common hand gestures and self-adaptable grasps by mixing under-actuated and self-adaptable hand kinematics in a unique design. The hand answers the need f…

Cited by 26 Source ↗Scholar ↗

2015

Design method for an anthropomorphic hand able to gesture and grasp

Giulio Cerruti, Damien Chablat, David Gouaillier, Sophie Sakka

ICRA 2015poster

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired robotic hands. In particular, there are no numerical methods…

Cited by 24 Source ↗Scholar ↗