Mechanical design of an artificial finger is the key factor in determining the performance of a
prosthetic hand. To achieve a simple, dexterous and functional bionic hand, researchers …

This work reviews the main techniques to model dynamical systems with contact-impact
events. Regularized and non-smooth formulations are considered, wherein the fundamental …

Multibody dynamics deals with the study of mechanical systems composed of multiple
bodies, whose motion interactions are governed by the presence of kinematic constraints …

Versatile and secure grasping in robotic systems remains a difficult challenge to address
when objects possess a wide range of different properties (size, weight, friction coefficient …

Numerous algorithms of grasping and manipulation have been introduced to manipulate an
object via the applied soft-fingered uses. A soft fingertip-like human skin was first developed …

Theoretical predictions and engineering practice indicate that roll crossing in strip mills can
generate an excessive axial thrust force between rolls, often resulting in roll bearing failures …

This paper presents a unified and generalized approach for the construction of Jacobian
matrices for general, nonredundant parallel manipulators that possess serial and/or mixed …

Traditionally, robotic grippers are based on stiff materials, enabling end effectors with high
load capacity and precision for industrial applications. Recent advances in soft robotics have …

In this paper, we aim to use a continuous formulation to efficiently calculate the well-known
wrench-based grasp metric proposed by Ferrari and Canny which is the minimum distance …

Enveloping grasp planning of the contact points is a challenging task in the field of robotics
due to the complex constraints during grasp manipulation. In this paper, grasp stability …