You are here

MEMS SEMINAR:“Mechanical Intelligence” in Robotic Manipulation: Towards Human-level Dexterity in Robotic and Prosthetic Hands

Oct 19

Wednesday, October 19, 2022 - 12:00pm to 1:00pm

Hudson Hall 125

Add to calendar »

Presenter

Aaron Dollar (Yale University)

The human hand is the pinnacle of dexterity - it has the ability to powerfully grasp a wide range of object sizes and shapes as well as delicately manipulate objects held within the fingertips. Current robotic and prosthetic systems, however, have only a fraction of that manual dexterity. My group attempts to address this gap in three main ways: examining the mechanics and design of effective hands, studying biological hand function as inspiration and performance benchmarking, and developing novel control approaches that accommodate task uncertainty. In terms of hand design, we strongly prioritize passive mechanics, including incorporating adaptive underactuated transmissions and carefully tuned compliance, and seek to maximize open-loop performance while minimizing complexity. To motivate and benchmark our efforts, we are examining human hand usage during daily activities as well as quantifying functional aspects such as precision manipulation workspaces. Hosted by Boyuan Chen

Contact

Gray, Shauntil
919-660-5310
shauntil.gray@duke.edu