3 accepted papers
This paper presents a compact and lightweight fingertip changer (FTC) mechanism developed for multi-fingered robotic hands, facilitating autonomous, repeatable, and secure exchange without additional actuators. Unlike existing methods that require external power or pneumatic systems, the proposed pa
This paper presents a novel under-actuated twofinger gripper that passively adapts to various environments and maintains its grip posture using a passive-locking mechanism. The proposed mechanism features fingers with three phalanges, each incorporating four-bar and eight-bar linkages arranged in pa
In this study, a novel four degrees of freedom (DoF) robotic link mechanism and its torque analysis based on extended coaxial spherical joint module (E-CoSMo) are introduced. The E-CoSMo is a previously developed 4-DoF point-centered rotational parallel mechanism with coaxial actuators. The use of t…