In this paper we present a series of design directions for the development of affordable,
modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily …

Adaptive robot hands have changed the way we approach and think of robot grasping and
manipulation. Traditionally, pinch, fingertip grasping and dexterous, in-hand manipulation …

In this paper, we present a methodology based on constrained optimization methods for
estimating and compensating for post-contact parasitic object motions for underactuated …

In this paper, we focus on the formulation of a hybrid methodology that combines analytical
models, constrained optimization schemes, and machine learning techniques to simplify the …

The past decade has seen great progress in the development of adaptive, low-complexity,
underactuated robot hands. An advantage of these hands is that they use under-constrained …

For an underactuated anthropomorphic hand, apart from replicating the geometry,
biomimicry of human counterpart requires design based on functional biomimesis …

In the past several years, grasp analysis of multi-fingered robotic hands has been actively
studied through the use of posture synergies. In these grasping planning algorithms, a …

A new class of simple, adaptive, under-actuated and compliant robot hands has recently
attracted the interest of the robotics community. The under-actuated mechanisms and the …

In this paper, we propose a methodology for closed-loop, humanlike, task-specific reaching
and grasping with redundant robot arms and low-complexity robot hands. Human …

In this paper, we propose a complete methodology for deriving task-specific force closure
grasps for multifingered robot hands under a wide range of uncertainties. Given a finite set of …