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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, some considerations about the state of the art and the current trends in the design and control of " robot hands " are reported and discussed. The authors, on the basis of a long research activity for the development of robotic end-effectors and related technologies, address what they consider key-points for the development of " dextrous(More)
— In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and(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 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)
— 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(More)
In space applications, it is conceivable that part of the robotic activities could involve the grasp and/or manipulation of free-floating objects in absence of gravity. In this case, synchronous application of contacts seems to represent a basic feature in order to efficiently grasp the floating items. In this sense, an additional difficulty is that objects(More)
—A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and(More)
Compliant pads greatly contribute to increase the robustness and the stability of grasps of robot hands, because of their conformability to the objects' surfaces, the capability to damp dynamic effects and to dissipate repetitive strains, the enlarged contact areas they allow. On the other hand, besides the difficulty to obtain a precise model of soft pads,(More)