— To evaluate and optimize the mechanical design of underactuated hands, a benchmark test is defined that quantifies the ability to hold grasped objects subject to force distur...
— Highly underactuated and passively adaptive robotic hands have shown great promise for robust performance in unstructured settings. In order to fully realize this potential, ef...
The inherent uncertainty associated with unstructured environments makes establishing a successful grasp difficult. Traditional approaches to this problem involve hands that are c...
— For manipulation tasks, the transfer of objects between humans and robots is a fundamental way to coordinate activity and cooperatively perform useful work. Within this paper w...
In this paper, we propose a prior for hand pose estimation that integrates the direct relation between a manipulating hand and a 3d object. This is of particular interest for a va...