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Nevertheless, their adoption in industrial context is still limited due to a burdensome integration, which strongly relies on customized software modules specific for each end-effector. Indeed, to enable the functionalities of these end-effectors, dedicated interfaces must be developed to consider the different end-effector characteristics, like finger kinematics, actuation systems, and communication protocols. To face the challenges described above, we present ROS End-Effector, an open-source framework capable of accommodating a wide range of robotic end-effectors of different grasping capabilities (grasping, pinching, or independent finger dexterity) and hardware characteristics. The ROS End-Effector framework, rather than controlling each end-effector in a different and customized way, allows to mask the physical hardware differences and permits to control the end-effector using a set of high-level grasping primitives automatically extracted. By leveraging on hardware agnostic software modules including hardware abstraction layer (HAL), application programming interfaces (APIs), simulation tools and graphical user interfaces (GUIs), ROS End-Effector effectively facilitates the integration of diverse end-effector devices. The proposed framework capabilities in supporting different robotics end-effectors are demonstrated in both simulated and real hardware experiments using a variety of end-effectors with diverse characteristics, ranging from under-actuated grippers to anthropomorphic robotic hands. Finally, from the user perspective, the manuscript provides a set of examples about the use of the framework showing its flexibility in integrating a new end-effector module.<\/jats:p>","DOI":"10.1007\/s10846-023-01911-5","type":"journal-article","created":{"date-parts":[[2023,7,22]],"date-time":"2023-07-22T12:01:51Z","timestamp":1690027311000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors"],"prefix":"10.1007","volume":"108","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9711-3006","authenticated-orcid":false,"given":"Davide","family":"Torielli","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4611-1430","authenticated-orcid":false,"given":"Liana","family":"Bertoni","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3909-7941","authenticated-orcid":false,"given":"Fabio","family":"Fusaro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9877-8237","authenticated-orcid":false,"given":"Nikos","family":"Tsagarakis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1265-3370","authenticated-orcid":false,"given":"Luca","family":"Muratore","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,7,22]]},"reference":[{"key":"1911_CR1","doi-asserted-by":"publisher","unstructured":"Negrello, F., Stuart, H.S., Catalano, M.G.: Hands in the real world. 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