{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T02:58:12Z","timestamp":1768877892032,"version":"3.49.0"},"reference-count":25,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,1,27]],"date-time":"2022-01-27T00:00:00Z","timestamp":1643241600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003052","name":"Ministry of Trade, Industry and Energy","doi-asserted-by":"publisher","award":["20014558 and 20005024"],"award-info":[{"award-number":["20014558 and 20005024"]}],"id":[{"id":"10.13039\/501100003052","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Conventional assembly methods using robots need to change end-effectors or operate two robot arms for assembly. In this study, we propose a screwdriving gripper that can perform the tasks required for the assembly using a single robot arm. The proposed screwdriving gripper mimics a human-two-handed operation and has three features: (1) it performs pick-and-place, peg-in-hole, and screwdriving tasks required for assembly with a single gripper; (2) it uses a flexible link that complies with the contact force in the environment; and (3) it employs the same joints as the pronation and supination of the wrist, which help the manipulator to create a path. We propose a new gripper with 3 fingers and 12 degrees of freedom to implement these features; this gripper is composed of grasping and screwdriving parts. The grasping part has two fingers with a roll-yaw-pitch-pitch joint configuration. Its pitch joint implements wrist pronation and supination. The screwdriving part includes one finger with a roll-pitch-pitch joint configuration and a flexible link that can comply with the environment; this facilitates compliance based on the direction of the external force. The end of the screwdriving finger has a motor with a hex key attached, and an insert tip is attached to the back of the motor. A prototype of the proposed screwdriving gripper is manufactured, and a strategy for assembly using a prototype is proposed. The features of the proposed gripper are verified through screwdriving task experiments using a cooperative robotic arm. The experiments showed that the screwdriving gripper can perform tasks required for the assembly such as pick and place, peg-in-hole, and screwdriving.<\/jats:p>","DOI":"10.3390\/robotics11010018","type":"journal-article","created":{"date-parts":[[2022,1,27]],"date-time":"2022-01-27T22:01:57Z","timestamp":1643320917000},"page":"18","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Screwdriving Gripper That Mimics Human Two-Handed Assembly Tasks"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3773-8263","authenticated-orcid":false,"given":"Sangchul","family":"Han","sequence":"first","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5015-4214","authenticated-orcid":false,"given":"Myoung-Su","family":"Choi","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2478-6832","authenticated-orcid":false,"given":"Yong-Woo","family":"Shin","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"given":"Ga-Ram","family":"Jang","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5982-2445","authenticated-orcid":false,"given":"Dong-Hyuk","family":"Lee","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"given":"Jungsan","family":"Cho","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5837-3131","authenticated-orcid":false,"given":"Jae-Han","family":"Park","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]},{"given":"Ji-Hun","family":"Bae","sequence":"additional","affiliation":[{"name":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2022,1,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Knepper, R.A., Layton, T., Romanishin, J., and Rus, D. 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