Relevance

In the past decade, the field of robotics has made significant progress, integrating knowledge from diverse disciplines such as automation, computer vision, artificial intelligence, mechatronics, and human sciences. This convergence has resulted in the development of autonomous and intelligent systems that exhibit robust interactions with their environment. However, despite these advancements, artificial systems still fall short of achieving the dexterity and adaptability observed in living organisms. In response to this challenge, the concept of biomimetics has emerged in robotics as a promising avenue for creating artificial systems capable of robust interactions with their surroundings. This encompasses various aspects, including tactile sensing, grasping, manipulation, and the development of psychologically plausible agents.

Among applications, commercial industrial robots commonly consist of multi-degree of freedom mechanical arms with attached end-effectors. These end-effectors can be tools, grippers, or more advanced components. Addressing certain limitations, the development of end-effectors capable of adapting to the shape of various objects has given rise to what is commonly referred to as dexterous end-effectors. While automation is crucial for mitigating hazardous exposures in industries, certain tasks still require manual intervention due to complexity or unsuitability for direct automation.

Interestingly, the concept of artificial “hands” with a degree of dexterity can be traced back historically to their use in prosthetic applications. Today, these dexterous artificial hands find application in various advanced robotic systems, including tele-operated manipulators and others. Additionally, the growing popularity of human-robot interactions highlights the importance of user-friendly operator interfaces that reduce the operator's workload. Nowadays, there are different approaches to design end-effectors explored in literature with more anthropomorphic or zoomorphic features, or even featuring more abstract shapes and characteristics. However, identifying the specific design features that effectively enhance manipulation capabilities or intuitive use of robotic end-effectors remains a challenge to be addressed in this workshop.