Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation.

ABSTRACT: The impressive capabilities of humans to robustly perform manipulation stems from compliant interactions, enabled by the structure and materials distributed in the hands. We propose that mimicking this spatially distributed compliance in an anthropomorphic robotic hand enhances open-loop manipulation robustness and leads to human-like behaviors. Here we introduce the ADAPT Hand, equipped with configurable compliant elements on the skin, fingers, and wrist. After quantifying the effect of compliance on individual components against a rigid configuration, we experimentally analyze the performance of the full hand. Through automated pick-and-place tests, we show the grasping robustness mirrors the estimated geometric theoretical limit, while stress-testing the robot to perform 800+ grasps. Fi

SUBMITTER: Junge K 

PROVIDER: S-EPMC12033370 | biostudies-literature | 2025 Apr

REPOSITORIES: biostudies-literature