Learn More
— 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 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 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)
— 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 advanced robotic applications where a physical interaction of the robot with the environment takes place, the measurement of interaction forces is of basic importance for a safe execution of the desired tasks. In this paper, a novel 'stress' sensor is presented and its basic characteristics illustrated and discussed. Among its positive features, one may(More)