Constraining contacts to remain fixed on an object during manipulation limits the potential
workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one …

Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …

Artificial-delay control is a method in which state and input measurements collected at an
immediate past time instant (ie, artificially delayed) are used to compensate the uncertain …

This paper presents the development of a finger rehabilitation robot (FRR) for active and
passive training to fulfill the requirements of different rehabilitation stages. In the design, an …

The process of modeling a series of hand-object parameters is crucial for precise and
controllable robotic in-hand manipulation because it enables the map** from the hand's …

Many manipulation tasks, such as placement or within-hand manipulation, require the
object's pose relative to a robot hand. The task is difficult when the hand significantly …

We propose a new technique for pushing an unknown object from an initial configuration to
a goal configuration with stability constraints. The proposed method leverages recent …

This paper presents the design, analysis and experiment of a passively adaptive five-
fingered underactuated dexterous hand (UADH). The UADH has the ability to powerfully …

Object insertion is primarily studied using rigid robotic hands. However, these may have
difficulties overcoming spatial uncertainties originating from an uncertain initial grasp …

Unlike traditional robotic hands, underactuated compliant hands are challenging to model
due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually …