Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources. In particular, robotic arms will assist in the detailed visual inspection, instrumented analysis, extraction, and earth return of soil and rock samples. To this end, we are developing new robotic manipulation concepts for use on landers and rovers, wherei...

This paper addresses two unique challenges for self-reconfigurable robots to perform dexterous locomotion and manipulation in difficult environments: highdimensional inverse kinematics (HDIK) for > 100 degrees of freedom, and selfreconfiguration kinematic control (SRKC) where the workspace targets at which connectors are to meet for docking are not known a priori. These challenges go beyond the...

This paper focuses on the mechanism design of a novel compact dexterous hand of 3 fingers, 9 joints and 7 DOF (degrees of freedom). The technology of single-motor actuation is used and a kind of compact bilateral clutch is designed to reduce the size of actuation and control part of the hand. Different from most dexterous hand designs, no lengthy tendons are needed in this design since the actu...

I review three papers in the area of dexterous manipulation by machines. These papers focus on different stages of the process of grasping an object. The first describes a method for generating a suitable hand pose to grasp an object at a given set of contact points. The second describes a method for adapting an example manipulation task from a given object to a new object. The third describes ...

In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimi...

The demand for automatic quality inspection of individual micro components increases strongly in micro optoelectronics industry. In many cases, quality inspection of those micro components needs dexterous microhandling. However, automatic dexterous handling of micro components is a very challenging issue which is barely explored. This paper presents a high-DOF (degrees of freedom) automatic dex...

This paper presents the experimental validation of automatic dexterous in-hand manipulation of micro-objects. Currently, precise handling of micro-objects is still a challenge especially when large rotations are required. Indeed, the current dexterity of microgrippers is still very low and only some small range rotations have been shown. Although, the robotic hands in the macroscale have better...

Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. This paper describes a new method for kinematic 3D enveloping grasp planning. A new idea for grading the 3D grasp search domain for a given object is proposed. The grading method analyzes the curvature pattern and effective diameter of the object, and grades object regions...

Citation: Colachis SC IV, Bockbrader MA, Zhang M, Friedenberg DA, Annetta NV, Schwemmer MA, Skomrock ND, Mysiw WJ, Rezai AR, Bresler HS and Sharma G (2018) Dexterous Control of Seven Functional Hand Movements Using Cortically-Controlled Transcutaneous Muscle Stimulation in a Person With Tetraplegia. Front. Neurosci. 12:208. doi: 10.3389/fnins.2018.00208 Dexterous Control of Seven Functional Han...