A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping

Paper accepted to IEEE Robotics and Automation Magazine (RAM) Abstract: Soft robotic hands and grippers are increasingly attracting attention as robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight, and more compliant. Current soft robotic hands have mostly focused on the soft fingers […]

Safe Grasping with a Force Controlled Soft Robotic Hand

Paper accepted to 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC) Abstract: Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but even such […]