This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed realizes two configurations, namely, insertion and modes, using only single motor. In mode, assumes thin shape such that it can insert its tip into space. mode is activated through folding mechanism. Mode switching be achieved ways: actively by m...

Faster robotic picking of objects can improve industrial production throughput. A gripper design with appropriate control strategy is demonstrated to pick at high speed, while being tolerant unintentional collisions. The has a quasi–direct drive backdrivable, rigid finger mechanism transfer collision forces minimal delay towards the motor side. These are detected based on band–pass filtered mom...

Flexible hinges are joint mechanisms made of soft or flexible materials. The aim this study is to determine the discharge characteristics used in prosthetic hands and fingers according production techniques most appropriate hinge parameters. speed opening process energy consumption during closing directly depend on structure hinge. For reason, it important examine relationship between change it...

This paper presents an autonomous grasping approach for complex-shaped objects using anthropomorphic robotic hand. Although human-like hands have a number of distinctive advantages, most the current pickup systems still use relatively simple gripper setups such as two-finger or even suction gripper. The main difficulty utilizing lies in sheer complexity system; it is inherently tough to plan an...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

We present two patients with a displaced fracture of the small finger metacarpal base, where the shaft of the small finger metacarpal was wedged between the bases of the ring and small finger metacarpals. The striking appearance on radiographs led to initial recommendations for surgery, but both patients preferred non-operative treatment and did well in the short term without surgery

Owing to their adaptive interfacial properties, soft actuators can be used perform more delicate tasks than rigid counterparts. However, traditional polymeric rely on energy conversion for actuation, resulting in high power input or slow responses. Here we report an electrical plant-based actuator that uses a conformable interface as modulating unit and Venus flytrap actuating unit. Using frequ...

We present an approach for safe, and object-independent human-to-robot handovers using real time robotic vision, manipulation. aim general applicability with a generic object detector, fast grasp selection algorithm, by single gripper-mounted RGB-D camera, hence not relying on external sensors. The robot is controlled via visual servoing towards the of interest. Putting high emphasis safety, we...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...