Chi Han

Nanjing University of Aeronautics and Astronautics

Papers

Total Citations

H-Index

About

Chi Han is an emerging robotics researcher whose work centers on the design and optimization of underactuated robotic hands, with a particular focus on enabling dexterous, human-like grasping in humanoid systems. His research addresses one of the fundamental challenges in robotics: creating mechanically elegant gripper designs that achieve versatile manipulation without requiring complex actuation systems. Han's most notable contributions involve advancing underactuated finger mechanisms through innovative mechanical architectures. His development of the rack-crank-slider mechanism represents a significant step forward, enabling robotic fingers to seamlessly transition between parallel grasping and self-adaptive manipulation modes using only a single active degree of freedom. This work demonstrates both mechanical ingenuity and practical applicability for real-world robotic systems. Complementing this, his genetic algorithm-based design methodology introduces a data-driven paradigm for discovering novel underactuated mechanisms, moving beyond conventional trial-and-error approaches. His 2024 survey on underactuated finger topology synthesizes decades of progress in linkage and tendon-pulley designs, from basic two-degree-of-freedom configurations to sophisticated human-like fingers, establishing a valuable reference framework for the field. With a combined citation count of 10 across three papers published in a single year, Han shows strong early momentum as a researcher poised to make lasting contributions to robotic manipulation and humanoid robotics.