Human-safe Cobots are a popular replacement for industrial robots to automate manufacturing processes such like cutting and deburring that all involve accurate contour following across a workpiece surface while maintaining sufficient tool contact. Cobot arms are less expensive and human-safe but they have larger error motion in comparison when only...
As technologies like 3D printing increase in prevalence and capabilities, having a robot hand specifically designed for a given manipulation task also becomes more feasible. Leading to the question of how to design a robot hand for a specific manipulation task. To answer this question, I propose we need three...
This thesis explores the differences in puppetted and teleoperation control of robotic hands, using the Asterisk test as a benchmark. Two hands were tested, including modified versions of the Model Q and Model Q developed by Yale's GRAB Lab. Small differences were observed between the puppetted and teleoperation control of...
In-hand manipulations consist of dexterous motions that come easy to humans but still pose a challenge to robotic systems. It is difficult to control finger motions in long complicated sequences due to high DOFs and intricate contact interactions. For such complex motions, in-hand manipulations have generally been broken into a...
Recently there has been a large amount of research into basic human movement as a baseline for robotic motion. Robotic grasping is a challenging problem for a number of reasons. One of which is that it is difficult to accurately know the interaction between the hand and the object, especially...