We are aiming to develop the next generation robot hands, for applications requiring versatility in manipulation. Our work focuses on all aspects of designing, building and then using a robot hand: mechanism synthesis, design optimization, assembly, low-level control, and high-level planning. We are equally interested in sensing for manipulation, from range sensing and vision to tactile sensing and proprioception.
Many parts of this project are under active development; we will post highlights here as they become available. For publications on Matei's previous work on hand design (including the Velo Gripper developed at Willow Garage), see this page.
One project currently under development aims to build dexterous hands for the NASA Assistive Free Flyer robots such as the Astrobee. We are collaborating with the NASA Ames Intelligent Robotics Group to develop dexterous hands allowing the Astrobee to engage in manipulation tasks on board the International Space Station. An early example is shown in the video below, where an Astrobee prototype in simulated microgravity is using an underactuated perching gripper developed in our lab. Video courtesy of IRG's Dr. In Won Park.