In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipul...

One of the most interesting challenges in ECoG-based Brain-Machine Interface is movement prediction. Being able to perform such a prediction paves the way to high-degree precision command for a machine such as a robotic arm or robotic hands. As a witness of the BCI community increasing interest toward such a problem, the fourth BCI Competition provides a dataset which aim is to predict individu...

Haptic exploration with robotic ngers is accomplished by feature-guided exploration, where information about surface features such as cracks and ridges is used to guide the nger in an exploratory procedure. A local exploration strategy uses contact trajectory information from a tactile sensor to identify features while moving over and around them. Using an algorithm based on the Voronoi diagram...

Most robotic hands are either sensorless or lack the ability to report accurate position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native joint position and force sensing along with custom designed tactile sensors and real-time vision modules to accurately compute finger contacts and applied forces for grasping tasks. A numb...

We present a general motion planning algorithm for robotic systems with a “stratified” configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method extends a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend u...

In this paper we will address the problem of planning optimal grasps. Two general optimality criteria, that consider the total finger force and the maximum finger force will be introduced and discussed. Moreover their formalization, using various metrics on a space of generalized forces, will be detailed. The geometric interpretation of the two criteria will lead to an efficient planning algori...

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems is presented. Using the Stereolithography Apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The desig...

There has been a renewed interest in recent years to work towards robotic hands that are effective in addressing the needs of modern robotic systems. As robots increasingly move out of the lab and into unstructured environments, the need for hands designed to function under the uncertainty and wide range of conditions associated with those environments has become more pressing. This special iss...

In this paper, the optimal position control of an underactuated robotic finger is presented. Two trajectories, one for proximal and other medial phalanx, are proposed in order to emulate finger’s flexion/extension movements. A Mandani fuzzy due lack a precise dynamical model system. obtain parameters, optimization strategy based on membership functions applied. Genetic algorithms (GA) commonly ...