Tong Ling

Adaptive In-Hand Manipulation: Design of a Contact-Aware Modular Robot Finger with Active Surfaces

Robot in-hand manipulation is vital for dexterity, but it presents key challenges to stably manipulate objects with varying sizes and shapes while perceiving real-time contact states. Dexterous hands offer precision but are complex and expensive, whereas underactuated hands are simple but lack active dexterity and real...