A. E. Samuel
Papers
12
Total Citations
331
H-Index
10
About
A. E. Samuel is a pioneering researcher in robotic kinematics, whose work has fundamentally shaped the design and control of dexterous robot hands. His primary research areas include kinematic synthesis, screw theory, and the analysis of multi-finger, multi-freedom grippers. Samuel’s major contributions lie in establishing systematic methods for enumerating and classifying kinematic chains suitable for robotic hands, as demonstrated in his highly cited two-part series on kinematic chains for robot hands (75 and 63 citations, respectively). He notably unified screw geometry with matrix transformations (49 citations), providing deeper geometric insight into robotic analysis. His work on special configurations of multi-finger grippers (50 citations) used screw theory to establish general kinematic principles for fully-in-series and fully-in-parallel devices. Samuel also developed a dexterity measure for kinematic control of the Salisbury hand (18 citations) and explored optimization of kinematic geometry for dexterous robot fingers (16 citations). His research continues to influence modern robotics, particularly in the design of precise, multi-loop mechanisms and real-time inverse kinematic solutions.
Research Focus
Key Achievements
Top Papers
- 1Kinematic chains for robot hands—I. Orderly number-synthesis75 citations · 1995
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- 4Unifying Screw Geometry and Matrix Transformations49 citations · 1991
- 5Selecting multi-freedom multi-loop kinematic chains to suit a given task18 citations · 2001
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- 7On Optimizing the Kinematic Geometry of a Dextrous Robot Finger16 citations · 1998
- 8Dextrous Robot Fingers with Desirable Kinematic Forms15 citations · 1998
- 9Real-Time Solution of the Inverse Kinematic-Rate Problem11 citations · 2000
- 10Prediction of the Slop in General Spatial Linkages11 citations · 1999