Gabriele Vassura

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The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of(More)
In this paper, an overall description of the design of a robotic hand is discussed, with particular attention to the required sensory subsystem, its integration within the mechanical structure of the hand and the required control architecture. Different solutions for the joint configuration and the structure of the tendon network adopted for the(More)
Most of robotic soft pads studied so far were made with a thick layer of homogeneous material shaped around a rigid core; their behavior has been widely investigated in the literature, mainly under compressive contact load, showing typical non-linear relationship between contact deformation and applied load (the so called power law). This paper proposes(More)
The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This(More)
In this paper, a novel design approach for the development of robot hands is presented. This approach, that can be considered alternative to the “classical” one, takes into consideration compliant structures instead of rigid ones. Compliance effects, which were considered in the past as a “defect” to be mechanically eliminated, can be viceversa regarded as(More)
The paper first discusses the reasons why simplified solutions for the mechanical structure of fingers in robotic hands should be considered a worthy design goal. After a brief discussion about the mechanical solutions proposed so far for robotic fingers, a different design approach is proposed. It considers finger structures made of rigid links connected(More)
In this paper, the modeling and design for frictional loads applied by robotic fingertips through soft contact interface are investigated. The dependence of the sustainable friction forces and moments due to the normal load applied on the contact area is studied. A model that considers the dependence of both the contact area and the coefficient of friction(More)
In this work the static and dynamic characterization of viscoelastic pads for robotic hands is performed. A quasi-linear model, developed to describe the behavior of human hand pads and, more generally, of biological tissues, is adopted in order to overcome the problems tied to classical (linear) models, often used in the robotic field. Through experimental(More)
Viscoelastic contact interfaces can be found in various robotic components that are covered with a compliant surface (pad) such as anthropomorphic hands, biomimetic haptic/tactile sensors, prostheses, and orthoses. In all these cases, it is desirable to obtain thin and resistant pads with predetermined compliance and damping properties (e.g., mimicking the(More)