This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic
assembly, using a soft wrist that can operate more safely and tolerate lower-frequency …

Fine assembly tasks, such as electrical connector insertion have tight tolerances and
sensitive components, requiring compensation of alignment errors while applying sufficient …

Robots operating in the real world face significant but unavoidable issues in object
localization that must be dealt with. A typical approach to address this is the addition of …

This study aims to achieve autonomous robotic assembly under uncertain conditions arising
from imprecise goal positioning and variations in the angle of the grasped part. Soft robots …

Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is
limited, especially with less contact area: precision grasps and when objects are smaller or …

Robot interaction control is often limited to low dynamics or low flexibility, depending on
whether an active or passive approach is chosen. In this work, we introduce a hybrid control …

Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for
geometric variation in object or environmental contact, but today lack force capacity and fine …

Soft robotic fingers can safely grasp fragile or non-uniform objects, but their force capacity is
limited, especially with less contact area: objects which are smaller, not round, or where an …