Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers
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The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...
The machine tool industry is a well established, old and extremely important branch of today's manufacturing industry. With the ongoing globalization and the resulting increase of competition in this industry, the manufacturers have to push their technolog ...
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Minimally invasive surgery (MIS), which typically involves endoscopic camera and laparoscopic instruments may seem to be the ideal surgical procedure for its apparent benefits. However, in comparison to open surgeries, the spatial and mechanical tool limit ...
Autonomous grasping is a complex task for robots. It is a high dimensional problem since it involves controlling for the hand position, orientation and joint angles to successfully grasp an object. In order to reduce the control complexity, we adopt a 3-st ...
Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...
In recent years nanotechnology has become an enabling technology for the development and fabrication of new innovative products. The growth of micro- and nano-manufacturing lies in the ability of converting micro- and nano-fabrication techniques into mass- ...
This paper proposes a novel strategy for grasping 3D unknown objects in accordance with their corresponding task. We define the handle or the natural grasping component of an object as the part chosen by humans to pick up this object. When humans reach out ...
We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...
Over the past decades, a large number of robotic platforms have been developed which provide rehabilitative treatments aimed at recovering walking abilities in post-stroke patients. Unfortunately, they do not significantly influence patients' performance a ...
Institute of Electrical and Electronics Engineers2012