We use psychophysics to investigate human-centered transparency of grasping in unilateral robot-assisted minimally invasive surgery (RAMIS) without force feedback. Instead of the classical definition of transparency, we define here a human-centered transparency, focusing on natural action and perception in RAMIS. Demonstrating this approach, we assess the effect of gripper scaling on human-cent...

Self-peeling of gecko toes is mimicked by integration of film-terminated fibrillar adhesives to hybrid nematic liquid crystal network (LCN) cantilevers. A soft gripper is developed based on the gecko-inspired attachment/detachment mechanism. Performance of the fabricated gripper for transportation of thin delicate objects is evaluated by the optimum mechanical strength of the LCN and the maximu...

In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimum design procedure. The design problem has been approached and formulated as a new optimization problem by using fundamental characteristics of grasping mechanisms. In particular, in order to optimize a mechanism for two-finger gripper, an original multi-objective optimum algorithm has been ...

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that task-space motion of the gripper will result in successful grasps, using only monocular camera images and independently of camera calibration or the current robot po...

The robotic gripper is the end-effector of a robot system which is usually installed on a robot arm [1]. Since the gripper is the executor unit of a robot, it plays an important role in the application of robots. Technologies used in the grippers have been developed over the years for consumer products and specialized applications such as electronics, fields related to medicine and biology like...

This paper deals with the design of a micro-eyein-hand architecture. It consists of a smart camera embedded on a gripper. The camera is a high speed (10 000 fps) CMOS sensor of 64 × 64 pixels. Each pixel measures 35 μm × 35 μm and includes a photodiode, an amplifier, two storage capacitors, and an analog arithmetic unit. The gripper consists of a 4 dof (degrees-of-freedom) (y+, y-, z+, z-) micr...

To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (D.O.F. ) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper we describe a way to orient parts about an arbitrary axis by introducing ...

This paper presents our work on developing a flexible, adaptive and multifunctional gripper system for the assembly of camera phone lens modules. Key features of the system include tool change system for different end tools and visual position measurement of the component after grasping. This paper presents the development work and discusses the findings of system tests carried out in order to ...

In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M) Gripper, consists of a modular...

In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modu...