Pneumatic and tendon-driven actuators are widely used in soft robotic glove design. Tendon-driven gloves generally better controllability, dexterity, force output, but they less comfortable than pneumatic ones. Most focus on only one actuation mode where either motor-driven tendon or pump-driven transmission is used. Herein, a double-acting actuator (DASA) that provides both flexion extension o...

The development of dynamic rehabilitation devices can be evaluated as a research fastgrowing field. Indeed, robot-assisted therapy is an advanced new technology mainly in stroke rehabilitation. Although patients benefit from this enormous development of technology, including the presence of rehabilitation robots, the therapeutic field still suffering a lack in hand robotic rehabilitation device...

Abstract Compared to traditional rigid robotics, soft robotics has attracted increasing attention due its advantages in compliance, safety, and low cost. As an essential part of the robotic gripper also shows superior while grasping objects with irregular shapes. Recent research been conducted improve performance by adjusting variable effective length (VEL). However, existing VEL function achie...

Capacitive sensing depends on the physical parameter changing either the spacing between the two plates or the dielectric constant. Based on this idea, a capacitive based collision detection sensor is proposed and designed in this paper for the purpose of detecting any collision between the end effector and peripheral equipment (e.g., fixture) for the three degrees of freedom hybrid robotic mac...

This paper describes a hand-arm system equipped with optical three-axis tactile sensors and a binocular vision sensor. The vision compensates for the limitations of tactile information and tactile sensing, and vice versa. The tactile sensor can obtain geometrical data as real scale, while image data requires calibration to obtain length as a metric unit. Even if stereovision is used, we cannot ...

The planning of collision-free paths for a hand-arm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. To cope with this problem, this paper presents a novel importance sampling method based on the use of Principal Component Analysis (PCA) to enlarge the probability of finding...

This paper describes a set of methods that can be used to integrate real-time external vision sensing with internal force and position sensing to estimate contact forces by the fingers of a hand. Estimating these forces and contacts is essential to performing dextrous manipulation tasks. Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and ...