IEEE Robotics & Automation Magazine - June 2021 - 36

This prototype was also characterized through physical
experiments that evaluated its single-axis accuracy as well as
multi-DoF motions in real-world settings. The hand's actual
frictionally stable workspace, where slip metrics and errors
were low, closely matched the theoretical computational predictions
from the design optimization. Within this workspace,
high manipulability and accuracy were observed with
an open-loop controller, and a teleoperation task with variously
shaped blocks showed real-world performance capabilities
of the hand under closed-loop control. The approach of
adapting parallel mechanism architectures into dexterous
robot hands is validated and warrants further exploration.
Acknowledgment
This work was supported, in part, by the U.S. National Science
Foundation, under grants 1928448 and 1900681.
Connor McCann and Vatsal Patel contributed equally to
this article.
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Connor M. McCann, School of Engineering and Applied Sciences,
Harvard University, Cambridge, Massachusetts, 02138,
USA. Email: cmccann@g.harvard.edu.
Vatsal V. Patel, Department of Mechanical Engineering and
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06511, USA. Email: v.patel@yale.edu.
Aaron M. Dollar, Department of Mechanical Engineering and
Materials Science, Yale University, New Haven, Connecticut,
06511, USA. Email: aaron.dollar@yale.edu.
36 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2021
IEEE Robotics & Automation Magazine - June 2021

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