Publication
Design of a Highly Biomimetic and Fully-Actuated Robotic Finger
Related publications (46)
Self-Correcting Quadratic Programming-Based Robot Control
Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis
Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...
2023Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control
Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...
EPFL2023Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction
Nicolas Henry Pierre Louis Rogeau
The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...
EPFL2023Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion
Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...
EPFL2022Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
Josephine Anna Eleanor Hughes, Kai Christian Junge, Carlo Bosio
The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...
FRONTIERS MEDIA SA2022Active origami platforms for human-robot interactions
Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...
EPFL2022Fast 3D Modeling of Prosthetic Robotic Hands Based on a Multi-Layer Deformable Design
Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) a ...
WHIOCE PUBLISHING PTE LTD, SINGAPORE2022Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback
As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...
EPFL2021Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction
Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...
EPFL2021Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
Sylvain Calinon, Julius Maximilian Jankowski, Emmanuel Pignat, Teguh Santoso Lembono
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn th ...
IEEE2021