2025
SPARK Hand: Scooping-Pinching Adaptive Robotic Hand with Kempe Mechanism for Vertical Passive Grasp in Environmental Constraints
IROS 2025
This paper presents the SPARK finger, an innovative passive adaptive robotic finger capable of executing both parallel pinching and scooping grasps. The SPARK finger incorporates a multi-link mechanism with Kempe linkages to achieve a vertical linear fingertip trajectory. Furthermore, a parallelogra