Tendon-driven Mechanisms

A tendon-driven mechanism is a robotic system where links are actuated by "tendons" (wires), mimicking the human musculoskeletal system. This architecture allows the finger digits to remain slim and lightweight by relocating the heavy actuators to the forearm. We are focusing on developing novel design methodologies and control laws for these multifingered robotic hands to achieve human-like dexterity.

Control of Grasping & Dexterous Manipulation

We investigate control theories that enable robotic hands to stably grasp and manipulate various objects, even when their physical properties?such as shape or weight?are unknown. Our research aims to realize sophisticated "in-hand manipulation," including reorienting and shifting objects within the grasp, through the integrated use of tactile and force feedback.