Preprint
Sep 2026
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly and manipulation, we present a reconfigurable dual-opposition architecture. Specifically, to support simultaneous grasping of two parts and c...
William Su, Yunosuke Nakamura, Yi-Xiao Wang et al.
· 1 citation