5 accepted papers
Soft robotic hands compensate for uncertainty in perception and actuation by leveraging passive deformation in their intrinsically compliant hardware, facilitating robust and dexterous interactions with their environment. The ability to adjust the level of compliance during operation has the potenti
Soft robots exhibit complex behaviors despite simple control, due to their inherently compliant hardware which passively deforms upon contact ± a concept commonly referred to as morphological computation. To fully determine the behavior of soft robots, not only their control software but also their…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on intrinsically compliant components and are difficult to equip wit…
Observations of human grasping reveal that the exploitation of environmental constraints is a key structural aspect for the robustness and versatility of human grasping behavior. We analyze 3,400 human grasping trials with 17 subjects grasping 25 objects to show that viewing environmental constraint…
As a first step towards transferring human grasping capabilities to robots, we analyzed the grasping behavior of human subjects. We derived a taxonomy in order to adequately represent the observed strategies. During the analysis of the recorded data, this classification scheme helped us to obtain a…