Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery

(2021) Dingzhi Zhang et al.   International Journal of Computer Assisted Radiology and Surgery

On the Optimal Design of Underactuated Fingers Using Rolling Contact Joints

(2021) Jean-Michel Boisclair et al.   IEEE Robotics and Automation Letters

ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings

(2021) Kazuki Abe et al.   IEEE Transactions on Robotics

Cable-Movable Rolling Joint to Expand Workspace Under High External Load in a Hyper-Redundant Manipulator

(2021) Jeongryul Kim et al.   IEEE-ASME TRANSACTIONS ON MECHATRONICS

Darboux-frame-based parametrization for a spin-rolling sphere on a plane: A nonlinear transformation of underactuated system to fully-actuated model

(2021) Seyed Amir Tafrishi et al.   MECHANISM AND MACHINE THEORY

Design and Analysis of High-Stiffness Hyperredundant Manipulator With Sigma-Shaped Wire Path and Rolling Joints

(2021) Jae Min You et al.   IEEE Robotics and Automation Letters

An Origami Continuum Robot Capable of Precise Motion Through Torsionally Stiff Body and Smooth Inverse Kinematics

(2020) Junius Santoso et al.   Soft Robotics

Novel implant design of the proximal interphalangeal joint using an optimized rolling contact joint mechanism

(2019) Seok Woo Hong et al.   Journal of Orthopaedic Surgery and Research

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2

(2018) Cosimo Della Santina et al.   IEEE Transactions on Robotics

A Polynomial Formulation of Inverse Kinematics of Rolling Contact

(2015) Lei Cui et al.   Journal of Mechanisms and Robotics-Transactions of the ASME

Adaptive synergies for the design and control of the Pisa/IIT SoftHand

(2014) M.G. Catalano et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

(2011) Oussama Kanoun et al.   IEEE Transactions on Robotics

A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects With Point Contact

(2010) Lei Cui et al.   IEEE Transactions on Robotics