I focus primarily on improving the dexterity of highly under-actuated fingers and hands. More information at: Underwater Manipulation
OceanOne and the Red Sea Exploratorium
We designed an underactuated, compliant, tendon-driven hand for underwater manipulation. The hand must allow marine biologists and archaeologists to remotely secure strong grasps on tools and delicately pinch organic samples or artifacts. Finger joint flexibility makes the hand robust in a natural unstructured environment. Other interests include fingertip shape and sensing design for underwater manipulation. Challenges include changing ambient pressures, fluid interactions between the object and fingertip, and a large range of objects to acquire (from slippery sea sponge to large rocks to tools).
hstuart [sticky] stanford [bot] edu -> mailto:hstuart [sticky] stanford [bot] edu
Aukes, D. M., Heyneman, B., Ulmen, J., Stuart, H., Cutkosky, M. R., Kim, S., Garcia, P., Edsinger, A. (2014). Design and testing of a selectively compliant underactuated hand. The International Journal of Robotics Research.
Dastoor, S., Weiss, S., Stuart, H., Cutkosky, M. (2012). Jumping Robot with a Tunable Suspension Based on Artificial Muscles. Biomimetic and Biohybrid Systems: Lecture Notes in Computer Science Volume 7375: pp 95-106.
Stuart, H. S., Bagheri, M., Wang, S., Barnard, H., Sheng, A. L., Jenkins, M., Cutkosky, M. R. (2015). “Suction Helps in a Pinch: Improving Underwater Manipulation with Gentle Suction Flow.” In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings.
Stuart, H. S., Wang, S., Gardineer, B. G., Christensen, D. L., Aukes, D. M., & Cutkosky, M. A compliant underactuated hand for underwater mobile manipulation. In 2014 IEEE International Conference on Robotics and Automation.
Stuart, H., Inman, K., & Wang, X. (2013). Initial Development of a Method for Optical Measurement of Water Droplet Formation in the Cathode Flow Channel of a PEM Fuel Cell. In ASME 2013 11th International Conference on Fuel Cell Science, Engineering and Technology.