Sadman Sakib

A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand

Dexterous manipulation in confined spaces requires local control of hand orientation. Without a wrist, a dexterous hand must obtain this local orientation through coordinated motion of the robot arm, often involving several joints and a more complex end-effector path. We present CRAFT-Wrist, a concentric 2-DoF wrist ex...