Selected work

Representative Papers

Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation

Oct 07, 2026

This study addresses the challenge of motion coupling and independent actuation in four-degree-of-freedom robotic finger joints by proposing a joint-specific hybrid remote actuation architecture. The design integrates rigid linkages with closed-loop tendon transmission mechanisms and incorporates rolling contact joints to maintain constant tendon length, thereby achieving complete mechanical decoupling between the proximal and distal interphalangeal joints along with independent control of each joint. Experimental results validate the effectiveness of this decoupling strategy, demonstrating peak fingertip forces of 21.28 N, 9.22 N, and 5.75 N across the respective joints. Furthermore, the proposed finger successfully grasps objects of diverse geometric shapes. This work provides a reliable mechanism design solution for fine manipulation tasks in dexterous robotic hands.

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Dual-Agent Framework for Cross-Model Verified Translation of Natural-Language Protocols into Robotic Laboratory Platform

Jun 18, 2026

This work addresses the challenge of translating natural language descriptions of biological experimental protocols into executable robotic instructions, particularly in the context of microplate operations where a significant semantic gap exists. To bridge this gap, the authors propose a dual-agent framework: a parsing agent first structures the protocol and, through a rule-based mapping engine, generates device-specific commands; a heterogeneous large language model (LLM) verification agent then performs cross-validation and self-correction. The approach integrates a rule engine, LLM-based parsing and verification, structured protocol representation, and explicit modeling of microplate manipulation constraints to achieve high-fidelity, verifiable translation from natural language to robot-executable instructions. Evaluated on ELISA protocols, the system demonstrates the impact of model scale and verifier type on accuracy and successfully executes an end-to-end autonomous Bradford protein assay.

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A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study

May 14, 2026

This study addresses the kinematic structure design optimization of robotic hands by formulating it as a combinatorial optimization problem, aiming to achieve high-performance configurations under constraints on finger selection and structural feasibility. The work proposes a unified modeling framework based on Quadratic Unconstrained Binary Optimization (QUBO), which, for the first time, systematically encodes design criteria—such as workspace overlap, mutually exclusive choices, and structural dependencies—into a quadratic objective function amenable to direct solution via quantum annealing or classical simulated annealing. An experimental instance with 27 binary variables yields feasible designs, with objective values converging as the number of samples increases, thereby demonstrating the framework’s feasibility, effectiveness, and potential generalizability to other robotic systems.

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A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands

Apr 24, 2026

This study addresses the optimization of degree-of-freedom (DoF) allocation between the palm and fingers to enhance thumb opposition capability in robotic hands under a fixed total DoF budget. The authors propose a quantitative evaluation framework that does not rely on object or contact models, instead employing voxelized modeling of fingertip reachable workspaces and using their overlapping volume as a metric for opposition performance. Results show that while incorporating palm DoFs does not substantially expand the overall reachable workspace, it effectively improves opposition capability in the regions associated with the ring and little fingers by repositioning finger bases. Under a constant total DoF constraint, reallocating DoFs to the palm enlarges the overlapping workspace, albeit at the cost of increased kinematic redundancy, thereby revealing a complementary relationship between palm and finger DoFs in opposition kinematics.

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Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity

Apr 22, 2026

This study addresses the lack of a quantitative method for evaluating how phalangeal length ratios affect dexterity in robotic hands without task-specific assumptions. The authors propose an optimization framework based on latent dexterity, integrating metrics such as global manipulability, workspace volume, overlapping workspace, and fingertip sensitivity into a weighted multi-objective function with kinematic constraints to systematically optimize phalangeal proportions for five-fingered hands. By employing voxelized workspace representations, uniformly discretized joint motions, and selective identification of overlapping regions, the approach reveals the non-uniform contributions of individual phalanges to overall dexterity. The work elucidates the inherent trade-offs among reachability, dexterity, and controllability, offering practical guidelines for the kinematic design of multifingered robotic hands.

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Recent publications

Latest Papers

Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation

Oct 07, 2026

This study addresses the challenge of motion coupling and independent actuation in four-degree-of-freedom robotic finger joints by proposing a joint-specific hybrid remote actuation architecture. The design integrates rigid linkages with closed-loop tendon transmission mechanisms and incorporates rolling contact joints to maintain constant tendon length, thereby achieving complete mechanical decoupling between the proximal and distal interphalangeal joints along with independent control of each joint. Experimental results validate the effectiveness of this decoupling strategy, demonstrating peak fingertip forces of 21.28 N, 9.22 N, and 5.75 N across the respective joints. Furthermore, the proposed finger successfully grasps objects of diverse geometric shapes. This work provides a reliable mechanism design solution for fine manipulation tasks in dexterous robotic hands.

0 citationsRead paper

Dual-Agent Framework for Cross-Model Verified Translation of Natural-Language Protocols into Robotic Laboratory Platform

Jun 18, 2026

This work addresses the challenge of translating natural language descriptions of biological experimental protocols into executable robotic instructions, particularly in the context of microplate operations where a significant semantic gap exists. To bridge this gap, the authors propose a dual-agent framework: a parsing agent first structures the protocol and, through a rule-based mapping engine, generates device-specific commands; a heterogeneous large language model (LLM) verification agent then performs cross-validation and self-correction. The approach integrates a rule engine, LLM-based parsing and verification, structured protocol representation, and explicit modeling of microplate manipulation constraints to achieve high-fidelity, verifiable translation from natural language to robot-executable instructions. Evaluated on ELISA protocols, the system demonstrates the impact of model scale and verifier type on accuracy and successfully executes an end-to-end autonomous Bradford protein assay.

0 citationsRead paper

A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study

May 14, 2026

This study addresses the kinematic structure design optimization of robotic hands by formulating it as a combinatorial optimization problem, aiming to achieve high-performance configurations under constraints on finger selection and structural feasibility. The work proposes a unified modeling framework based on Quadratic Unconstrained Binary Optimization (QUBO), which, for the first time, systematically encodes design criteria—such as workspace overlap, mutually exclusive choices, and structural dependencies—into a quadratic objective function amenable to direct solution via quantum annealing or classical simulated annealing. An experimental instance with 27 binary variables yields feasible designs, with objective values converging as the number of samples increases, thereby demonstrating the framework’s feasibility, effectiveness, and potential generalizability to other robotic systems.

0 citationsRead paper

A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands

Apr 24, 2026

This study addresses the optimization of degree-of-freedom (DoF) allocation between the palm and fingers to enhance thumb opposition capability in robotic hands under a fixed total DoF budget. The authors propose a quantitative evaluation framework that does not rely on object or contact models, instead employing voxelized modeling of fingertip reachable workspaces and using their overlapping volume as a metric for opposition performance. Results show that while incorporating palm DoFs does not substantially expand the overall reachable workspace, it effectively improves opposition capability in the regions associated with the ring and little fingers by repositioning finger bases. Under a constant total DoF constraint, reallocating DoFs to the palm enlarges the overlapping workspace, albeit at the cost of increased kinematic redundancy, thereby revealing a complementary relationship between palm and finger DoFs in opposition kinematics.

0 citationsRead paper

Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity

Apr 22, 2026

This study addresses the lack of a quantitative method for evaluating how phalangeal length ratios affect dexterity in robotic hands without task-specific assumptions. The authors propose an optimization framework based on latent dexterity, integrating metrics such as global manipulability, workspace volume, overlapping workspace, and fingertip sensitivity into a weighted multi-objective function with kinematic constraints to systematically optimize phalangeal proportions for five-fingered hands. By employing voxelized workspace representations, uniformly discretized joint motions, and selective identification of overlapping regions, the approach reveals the non-uniform contributions of individual phalanges to overall dexterity. The work elucidates the inherent trade-offs among reachability, dexterity, and controllability, offering practical guidelines for the kinematic design of multifingered robotic hands.

0 citationsRead paper