Abstract A main challenge in the additive manufacturing (AM) field is possibility to create structures with embedded actuators and sensors: addressing this requirement would lead a reduction of manual assembly tasks product cost, pushing AM technologies into new dimension for fabrication assembly-free smart objects. The novelty present paper one shot 3D printed soft finger an shape memory alloy...

Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as promising strategy to improve the manipulation capabilities robotic system. This work presents novel grasp planning algorithm hybrid grippers that allows multiple modalities. In particular, planner manages two-finger grasps, single or double suction ...

OBJECTIVE To better understand the ergonomics associated with robotic surgery including physical discomfort and symptoms, factors influencing symptom reporting, and robotic surgery systems components recommended to be improved. METHODS The anonymous survey included 20 questions regarding demographics, systems, ergonomics, and physical symptoms and was completed by experienced robotic surgeons...

This paper presents the application of stratified motion planning to the robotic manipulation problem. Although the manipulation problem is a subclass of applications for stratified motion planning, the method present is general in that it is formulation in a manner independent of the object surface geometry or the kinematics of the “fingers” of the robot. The theoretical development of the met...

A compliant constant-force mechanism is a passive force regulation device that can generate nearly constant output over range of input or displacements while without the use sensors and feedback control. In topology synthesis for given displacement range, be achieved by maintaining to same value increases. order further control desired before contacting object, this article introduces new compo...

The paper shows the link that anchors a conceptual representation of dynamic scenarios to one of the most influential symbolic formalisms used in cognitive robotics, namely the situation calculus. A cognitive architecture for robot vision is taken into account as the reference framework. The discussion is based on an experimental setup aimed at obtaining an intelligent visual control of a robot...

The mechatronic design of robotic hands is a very complex task, which involves different aspects of mechanics, actuation, and control. In most of cases inspiration is taken by the human hand, which is able to grasp and manipulate objects with different sizes and shapes, but its functionality and versatility are very difficult to mimic. Human hand strength and dexterity involve a complex geometr...

This paper presents a general, nonholonomic dextrous manipulation and finger gaiting technique for robotic grasping problems. This method is general in that it is independent of the geometry of the grasped object and independent of the morphology of the mainipulating hand. This method is based upon a nonholonomic motion planning method for smooth system that has been extended to a certain class...

This article presents a directly 3-D printed soft monolithic robotic finger with embedded pneumatic sensing chambers (PSC) as position and touch sensors. The was fabricated using low-cost open-source fused deposition modeling printer that employs an off-the-shelf flexible commercially available thermoplastic polyurethane. A single hinge PSC optimized finite element hyperelastic material model t...

We introduce a learning method which can detect opening (extension) and closing (flexion) actions of all human fingers, as well as sideways movements (abduction/adduction) using lower arm surface EMG only. The method is shown to be used independently of the position of the arm. The method is ideally suited for the control of active prosthesis with a high number of active degrees of freedom. The...