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This study introduces a criteria-based methodology for grasp synthesis. The method allows using multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study(More)
A micromanipulator is a small-amplitude, high-resolution motion device that can be incorporated into an existing robotic system (typically between the wrist and end-effector) to provide fine adjustments for precise error compensation and delicate force control. The micromanipulator system presented is based on a fully-parallel six-legged platform mechanism(More)