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Qingpeng Wen, Jun He and Feng Gao
Robots equipped with anchoring mechanisms have attractive applications in asteroid exploration. However, complex application scenarios bring great challenges to the modeling and control of anchoring mechanisms. This paper presents a grasping model and co...
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Zongyu Chang, Yang Zhang, Zhongqiang Zheng, Lin Zhao and Kunfan Shen
Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial ap...
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Eike Jakubowitz, Thekla Feist, Alina Obermeier, Carina Gempfer, Christof Hurschler, Henning Windhagen and Max-Heinrich Laves
Human grasping is a relatively fast process and control signals for upper limb prosthetics cannot be generated and processed in a sufficiently timely manner. The aim of this study was to examine whether discriminating between different grasping movements...
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Wei Ji, Guozhi He, Bo Xu, Hongwei Zhang and Xiaowei Yu
During the picking process of the apple harvesting robot, the attitude of the end effector holding the apple and the movement method of separating the apple directly affect the success rate of picking. In order to improve the stability of the picking pro...
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Zhikang Peng, Dongli Liu, Xiaoyun Song, Meihua Wang, Yiwen Rao, Yanjie Guo and Jun Peng
Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materia...
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Tianlei Wang, Fei Ding and Zhenxing Sun
Human intelligence has the advantage for making high-level decisions in the remote control of underwater vehicles, while autonomous control is superior for accurate and fast close-range pose adjustment. Combining the advantages of both remote and autonom...
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Safal Lama and Taher Deemyad
This paper introduces a new gripper mechanism that is capable of grasping objects of various sizes and shapes without the need for a closed-loop control system. Industries such as the food and beverage industry are seeking innovative soft grippers with a...
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Junjie Liu, Zhang Xiao, Yu Tan, Erjie Sun, Bin He and Guoning Ma
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Mohammad Mohammadzadeh Babr, Maryam Faghihabdolahi, Danijela Ristic-Durrant and Kai Michels
Instance segmentation of overlapping plants to detect their grasps for possible robotic grasping presents a challenging task due to the need to address the problem of occlusion. We addressed the problem of occlusion using a powerful convolutional neural ...
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Rui Chang, Qingxuan Jia, Ming Chu and Xiaodong Zhang
Compliant capture of the space non-cooperative targets is a key technology in on-orbit services. A great challenge is that the multi-dimensional contact force generated by the tumbling space target can destabilize the spacecraft-manipulator system (SMS),...
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Gregor Harih, Jasmin Kaljun and Bojan Dol?ak
The influence of product handle material stiffness on tactile perception has been investigated using a sawing task. Deformable handles with appropriate stiffness resulted in significantly improved user tactile perception and higher subjective comfort rat...
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Chen Chen, Xin Jiang, Shu Miao, Weiguo Zhou and Yunhui Liu
In the industrial domain, estimating the pose of texture-less shiny parts is challenging but worthwhile. In this study, it is impractical to utilize texture information to obtain the pose because the features are likely to be affected by the surrounding ...
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Hong Hai Hoang and Bao Long Tran
With the rapid development of cameras and deep learning technologies, computer vision tasks such as object detection, object segmentation and object tracking are being widely applied in many fields of life. For robot grasping tasks, object segmentation a...
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Néstor J. Jarque-Bou, Margarita Vergara and Joaquín L. Sancho-Bru
Thumb opposition is essential for grasping, and involves the flexion and abduction of the carpometacarpal and metacarpophalangeal joints of the thumb. The high number of degrees of freedom of the thumb in a fairly small space makes the in vivo recording ...
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Hui Wei, Sicong Pan, Gang Ma and Xiao Duan
In this study we present an autonomous grasping system that uses a vision-guided hand?eye coordination policy with closed-loop vision-based control to ensure a sufficient task success rate while maintaining acceptable manipulation precision. When facing ...
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Giulia Bressan, Giulia Cisotto, Gernot R. Müller-Putz and Selina Christin Wriessnegger
The classification of different fine hand movements from electroencephalogram (EEG) signals represents a relevant research challenge, e.g., in BCI applications for motor rehabilitation. Here, we analyzed two different datasets where fine hand movements (...
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Andreas Geiger, Elisabeth Brandenburg and Rainer Stark
Digital human models (DHMs) are virtual representations of human beings. They are used to conduct, among other things, ergonomic assessments in factory layout planning. DHM software tools are challenging in their use and thus require a high amount of tra...
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Kazuki Hokari, Jonas A. Pramudita, Masato Ito, Kazuya Okada and Yuji Tanabe
In this study, a grasping motion simulation method based on finite element analysis was developed for the virtual evaluation of gripping comfort while gripping a cylindrical object. The validity of the grasping motion simulation was verified by comparing...
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Lazher Zaidi, Juan Antonio Corrales Ramon, Laurent Sabourin, Belhassen Chedli Bouzgarrou and Youcef Mezouar
In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely est...
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Wooseok Ryu, Youngjin Choi, Yong Je Choi, Yeong Geol Lee and Sungon Lee
We developed an anthropomorphic prosthetic hand with an underactuated mechanism for wrist or forearm amputees. The fabricated prototype is 475 g and can realize self-adaptive grasping, adduction/abduction, and flexion/extension motions.
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