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Doubrovski, E.L. (author)The initial assignment, as formulated by the Delft Biorobotics Laboratory (DBL) for this graduation project was “Design a personal assistant robot for elderly” During the first phase, the design directions have been explored. This was done by looking into the world of the elderly and into the world of domestic robots. The findings from this...master thesis 2010
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Chang, Y.T. (author)The particular category of the underactuated grippers is chosen for the automation of the item picking in distribution centers. The underactuated grippers have fewer degrees of actuation than degrees of freedom, so they are mechanically simpler than the fully-actuated grippers, and they are able to adapt to objects regardless of their shapes....master thesis 2010
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Bank, J.M. (author)This thesis presents the design of the mechanical and electrical structure of a novel interaction force sensor, in which a micro-gripper can be easily integrated. Independent force/torque detection in six degrees of freedom (DOF), a wide force range (a few mN) and a high resolution (at ?N and ?Nmm level) are obtained. Piezoresistors are used for...master thesis 2010
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Trommelen, M.H.T. (author)When performing minimally invasive interventions, surgeons use grippers to grip and manipulate tissue. These grippers generally rely on their toothed profile and require pinching of the tissue for sufficient grip, entailing a risk of tissue damage. An solution should be found for this risk of damage. An alternative could be to manipulate the...master thesis 2011
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Audenaert, L.E.G. (author), Van Bremen, L. (author), Hulsinga, D.S. (author)This document describes the design and modification of a Universal Jamming Gripper. On the existing idea is expanded in such a way that it can be used in a low power environment. For the gripper a capacitive sensor is proposed to measure the deformation of the flexible part. This measurement can be used to aid in centring an object in the...bachelor thesis 2015
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De Lange, R. (author)Underactuated grippers are developed to grasp objects of varying shape and sizes without the need to rely on sensors and feedback systems. This main aspect makes underactuated grippers efficient in their ability to automatically distribute the actuation force to multiple outputs. Besides actuating multiple phalanges by the actuation principle,...master thesis 2015
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Kwok, T.H. (author), Wan, W. (author), Pan, J. (author), Wang, C.C. (author), Yuan, J. (author), Harada, K (author), Chen, Y. (author)We present a novel method for caging grasps in this paper by stretching ropes on the surface of a 3D object. Both topology and shape of a model to be grasped has been<br/>considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and...conference paper 2016
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Meijer, Jonathan (author), Lei, Q. (author), Wisse, M. (author)This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the...conference paper 2017
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Coehoorn, H.H. (author)The field of upper limb prosthetics focuses on the development of artificial replacement devices for upper limb loss, from partial finger loss to amputation of the entire arm at the shoulder. Hand and hook prostheses are designed to replace the functionality of a missing hand and can be powered either by external sources (e.g. electricity) or by...master thesis 2017
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Charalambous, Chris (author)The rapid rate in technological advancements leaves little to none options for our environment to react. The excessive use of "conventional" energy is bringing planet Earth to its knees. However, people started recognizing the value of renewable energy sources.<br/>One of the major renewable sources is the wind energy. The wind energy can be...master thesis 2017
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Neven, Job (author)Nowadays, the number of robotic systems grows enormously. In order to execute their task, many of these robots need a fixturing gripper to grasp and hold objects. To reduce the environmental impact, the operational costs, the size of actuators and to improve the uptime of mobile robots, it becomes increasingly important to design robots for a...master thesis 2017
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Follini, Camilla (author), Liu Cheng, Alexander (author), Latorre, Galoget (author), Amores, Luis Freire (author)Scaffolding assembly constitutes a potentially dangerous and time-consuming task within the construction process. In most industrialized nations, said assembly is the process in which most of the causalities of the Construction Industry happen, especially in projects characterized by high complexity and restricted operation space. The...conference paper 2018
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Lei, Q. (author)According to the report by the United Nations in 2015, the global population of older persons aged 60 years or over is predicted to grow to 1.4 billion by 2030. A rapidly aging population poses a challenging problem for human beings, i.e. supply shortage of working-age people. To solve this problem, increasing research efforts are poured into...doctoral thesis 2018
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van Elteren, Floris (author)A particular design choice in origami engineering is to use curved creases. By folding a curved-crease design, the sheets connected to the crease line have to bend, allowing for novel properties unachievable with straight-crease origami. This thesis explores the design of curved-crease-folding mechanisms with integrated planar bending actuators....master thesis 2018
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Pijnacker, Joris (author)Because of the increasing e-commerce volume, resulting in increasing demands on the speed of delivery, logistical processes become more and more automated. Order picking is one of the last tasks that is done by humans in warehouses, because humans are flexible with respect to the large variability and changeability in items. However, it is a...master thesis 2018
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Klootwijk, Alex (author)Reukema is the biggest non-ferrous trader in the Netherlands. They want to investigate the possibility of sorting aluminium in a robotic system. Aluminium is one of the most used materials worldwide. Demands for aluminium are ever increasing. Recycling scrap is needed to keep up with the demand. An important step in the recycling process is the...master thesis 2019
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van Essen, Thijs (author)Offshore wind energy is one of the solutions to meet the growing demand for renewable energy. The offshore wind turbines producing this energy keep increasing in size and, as a result, the monopile foundations are becoming larger and heavier. The traditional jack-up installation vessels have limited crane capacity and many of these vessels are...master thesis 2020
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Hester, Thomas (author)This thesis contains the design process of a compliant shape adaptive chicory gripper for robotic sorting processes. The robotic sorting line consists of an input and output conveyor-belt. The input line contains unsorted chicories which are scanned by a robotic vision system. Overhead FlexPicker robots, equipped with chicory grippers, sort the...master thesis 2020
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van Assenbergh, S.P. (author), Culmone, C. (author), Breedveld, P. (author), Dodou, D. (author)Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too low pinch forces and tissue damaging due to too high pinch forces. Here, we prototyped a...journal article 2021
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Joosen, Max (author)Sentinel lymph node biopsy (SLNB) is a procedure that is used to determine the stage of disease of melanoma patients and determine further treatment. However, the morbidities accompanied with this procedure are not negligible (e.g., wound infection, lymphoedema and seroma). With the goal reduce the incidence of morbidities, this thesis...master thesis 2021