D. Rapela

Papers

Total Citations

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About

D. Rapela’s research centers on robotic manipulation, particularly the control of multifinger grippers to replicate the dexterity of the human hand. His most-cited work, "Joint controller for the object-pose controlling on multifinger grippers" (1999, 9 citations), addresses a fundamental challenge in robotics: enabling artificial hands to grasp and manipulate objects of varying sizes and shapes with precision. By focusing on joint-level control for object-pose stabilization, Rapela contributed to the development of more adaptive and human-like robotic grasping systems. This work sits within a broader effort to bridge the gap between biological dexterity and mechanical actuation, influencing subsequent research in robotic hand design and control. While his citation count reflects a niche but impactful contribution, his research underscores the importance of robust control strategies in advancing multifingered grippers for applications in manufacturing, prosthetics, and human-robot interaction. Rapela’s work remains a reference point for engineers and researchers exploring object manipulation in constrained robotic environments.