Learn More
—The inherent uncertainty associated with unstructured grasping tasks makes establishing a successful grasp difficult. Traditional approaches to this problem involve hands that are complex, fragile, require elaborate sensor suites, and are difficult to control. In this paper, we demonstrate a novel autonomous grasping system that is both simple and robust.(More)
—This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint(More)
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will(More)
In this paper we set forth a review of performance characteristics for both common commercial prosthetics as well as anthropomorphic research devices. Based on these specifications as well as surveyed results from prosthetic users, ranges of hand attributes are evaluated and discussed. End user information is used to describe the performance requirements(More)
sources in the literature is put forward, along with the physical properties of sample objects in those categories. Next, an experimental evaluation of the coefficient of static friction between these objects and a number of common household surfaces is performed. A key failure mode in unstructured object grasping occurs when the manipulator applies large(More)
—In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we(More)
This work contributes to the development of a common framework for the discussion and analysis of dexterous manipulation across the human and robotic domains. An overview of previous work is first provided along with an analysis of the tradeoffs between arm and hand dexterity. A hand-centric and motion-centric manipulation classification is then presented(More)