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Proceedings Papers

Safe Robot to Human Tool Handover to Support Effective Collaboration

Jeon Ho Kang, Paolo Limcaoco, Neel Dhanaraj, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A088, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116334
https://doi.org/10.1115/DETC2023-116334
View Paper titled, Safe Robot to Human Tool Handover to Support Effective Collaboration
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Topics: Collaboration, Robots, End effectors, Grasping, Design, Grippers, Manufacturing, Robotics
Proceedings Papers

A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping

Vitthal Khatik, Anupam Saxena
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A071, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115115
https://doi.org/10.1115/DETC2023-115115
View Paper titled, A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping
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Topics: Artificial limbs, Exoskeleton devices, Grasping, Pulleys, String, Actuators, Arches, Degrees of freedom, End effectors, Rotation
Proceedings Papers

Natural Motion Grasping Design Using Control-Oriented Kinematic Models

Nina Robson, Vanessa Audrey, Severino Hernandez, John Golden, Vincent Ton
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A073, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116654
https://doi.org/10.1115/DETC2023-116654
View Paper titled, Natural Motion Grasping Design Using Control-Oriented Kinematic Models
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Topics: Design, Grasping, Kinematics, Degrees of freedom, Engineering prototypes, Geometry, Robotics, Rotation
Proceedings Papers

Design Verification of a Multi-Modal Compliant Mechanism Intended to Enhance Safety in Handheld Laparoscopic Tissue Grasping

Milton E. Aguirre, Mauricio Fernández Montoya, Juan Andres Gallego Sanchez, Krishna D. Kommuri
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A039, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116606
https://doi.org/10.1115/DETC2023-116606
View Paper titled, Design Verification of a Multi-Modal Compliant Mechanism Intended to Enhance Safety in Handheld Laparoscopic Tissue Grasping
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Topics: Biological tissues, Buckling, Compliant mechanisms, Deformation, Design, Finite element analysis, Grasping, Modeling, Safety
Proceedings Papers

Human Grasping Force Prediction, Measurement, and Validation for Human-Robot Lifting

Asif Arefeen, Joel Quarnstrom, Shahbaz P Qadri Syed, He Bai, Yujiang Xiang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A025, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89752
https://doi.org/10.1115/DETC2022-89752
View Paper titled, Human Grasping Force Prediction, Measurement, and Validation for Human-Robot Lifting
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Topics: Grasping, Robots
Proceedings Papers

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

Wei Xu, Jiaming Fu, Dongming Gan
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A010, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89856
https://doi.org/10.1115/DETC2022-89856
View Paper titled, Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping
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Topics: Design, Grasping, Modeling, Robotics, Stiffness
Proceedings Papers

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Andrew Sharp, Austin Lovan, Eduardo Herrera, Evan Laske
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A043, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89299
https://doi.org/10.1115/DETC2022-89299
View Paper titled, Practical End-Effector Development Through Task Interface Taxonomy Analysis
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Topics: End effectors, Grippers, Robotics, Computer software, Gates (Closures), Design, Drills (Tools), Filters, Fire, Grasping
Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89625
https://doi.org/10.1115/DETC2022-89625
View Paper titled, Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism
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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds
Proceedings Papers

Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission

Gabriele Maria Achilli, Silvia Logozzo, Maria Cristina Valigi, Monica Malvezzi
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A005, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72162
https://doi.org/10.1115/DETC2021-72162
View Paper titled, Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission
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Topics: End effectors, Grasping, Grippers, Modeling, Simulation
Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70233
https://doi.org/10.1115/DETC2021-70233
View Paper titled, A New Robotic Hand Based on the Design of Fingers With Spatial Motions
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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes
Proceedings Papers

Deep Reinforcement Learning Enhanced Convolutional Neural Networks for Robotic Grasping

Jianhao Fang, Weifei Hu, Chuxuan Wang, Zhenyu Liu, Jianrong Tan
Proc. ASME. IDETC-CIE2021, Volume 3B: 47th Design Automation Conference (DAC), V03BT03A036, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67225
https://doi.org/10.1115/DETC2021-67225
View Paper titled, Deep Reinforcement Learning Enhanced Convolutional Neural Networks for Robotic Grasping
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Topics: Artificial neural networks, Grasping, Reinforcement learning
Proceedings Papers

Position and Force Control of Multibody Systems by Feedback Linearization

Christoph Woernle
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 11-18, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0355
https://doi.org/10.1115/DETC1992-0355
View Paper titled, Position and Force Control of Multibody Systems by Feedback Linearization
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Topics: Feedback, Force control, Multibody systems, Dynamics (Mechanics), Grasping, Grippers, Legged locomotion, Robotics
Proceedings Papers

A Versatile 3-D Tactile Array Gripper Using a Digitally Encoded Sensor

Glenn M. Friedman, Stephen J. Derby
Proc. ASME. DETC92, 4th Conference on Flexible Assembly Systems, 111-117, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0454
https://doi.org/10.1115/DETC1992-0454
View Paper titled, A Versatile 3-D Tactile Array Gripper Using a Digitally Encoded Sensor
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Topics: Grippers, Sensors, Probes, Shapes, Computers, Grasping, Inspection, Manufacturing, Robots
Proceedings Papers

A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand

Xiaochun Gao, Shin-Min Song
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 293-298, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0226
https://doi.org/10.1115/DETC1992-0226
View Paper titled, A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand
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Topics: End effectors, Force control, Grasping, Simulation results, Stiffness
Proceedings Papers

Analysis and Synthesis of Frictionless Planar Grasping in an Image Space

J. S. Dai, D. R. Kerr
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 283-291, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0225
https://doi.org/10.1115/DETC1992-0225
View Paper titled, Analysis and Synthesis of Frictionless Planar Grasping in an Image Space
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Topics: Grasping, Algebra, Geometry, Screws, Shapes, Surface properties
Proceedings Papers

A Single-DOF Multi-Function Prosthetic Hand Mechanism With an Automatically Variable Speed Transmission

Gongliang Guo, Xikang Qian, Willim A. Gruver
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 149-154, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0209
https://doi.org/10.1115/DETC1992-0209
View Paper titled, A Single-DOF Multi-Function Prosthetic Hand Mechanism With an Automatically Variable Speed Transmission
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Topics: Artificial limbs, Degrees of freedom, Design, Gears, Grasping, Levers, Linkages, Mechanical structures, Prostheses, Robotics
Proceedings Papers

A Near-Time-Optimal Planning Method for Robotic Interception of Moving Objects

E. A. Croft, G. Zak, G. Hexner, R. G. Fenton, B. Benhabib
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 317-322, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0338
https://doi.org/10.1115/DETC1994-0338
View Paper titled, A Near-Time-Optimal Planning Method for Robotic Interception of Moving Objects
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Topics: Robotics, Manipulators, Grasping, Path planning, Robot motion, Trajectories (Physics)
Proceedings Papers

The Dynamic Effects of Robotic Grasping Considering Flexible Joints

J. Kövecses, R. G. Fenton, W. L. Cleghorn
Proc. ASME. DETC95, Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification, 1375-1383, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0715
https://doi.org/10.1115/DETC1995-0715
View Paper titled, The Dynamic Effects of Robotic Grasping Considering Flexible Joints
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Topics: Conveyor systems, Dynamics (Mechanics), Grasping, Manipulators, Robotics, Rotors, Simulation results, Springs
Proceedings Papers

On the Classification of Automatic Tool Changers for Machining Centers

Hong-Sen Yan, Chih-Wen Yiou, Fu-Chen Chen, Paul Chang
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 931-936, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0122
https://doi.org/10.1115/DETC1995-0122
View Paper titled, On the Classification of Automatic Tool Changers for Machining Centers
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Topics: Machining centers, Grasping
Proceedings Papers

Enabling Technologies for Virtual Parts Handling Environment: An Overview

F. W. Liou
Proc. ASME. DETC-CIE96, Volume 5: 5th Flexible Assembly Conference, V005T05A008, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/FAS-1608
https://doi.org/10.1115/96-DETC/FAS-1608
View Paper titled, Enabling Technologies for Virtual Parts Handling Environment: An Overview
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Topics: Collisions (Physics), Computers, Contact modeling, Design, Friction, Grasping, Modeling, Robotics, Simulation, Virtual reality