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Abstract--This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it
 

Summary: 
Abstract-- This paper describes a novel underactuated
robotic hand design. The hand is highly underactuated as it
contains three fingers with three joints each controlled by a
single motor. One of the fingers ("thumb") can also be rotated
about the base of the hand, yielding a total of two controllable
degrees-of-freedom. A key component of the design is the
addition of position and tactile sensors which provide precise
angle feedback and binary force feedback. Our mechanical
design can be analyzed theoretically to predict contact forces as
well as hand position given a particular object shape
Key words--Robotic Hands Underactuation Tactile sensors
I. INTRODUCTION
Underactuated robotic hands have become quite popular
over the last few years, for a number of reasons. Hands such
as [1, 2, 3, 4] occupy a niche among the wide spectrum of
robotic hands that lie between simplistic 2-fingered industrial
grippers and complex 5-fingered humanoid hands such as the
shadow hand [5]. Utilizing usually one actuator or less to curl
a single finger, these hands allow a much more simplified

  

Source: Allen, Peter K. - Department of Computer Science, Columbia University

 

Collections: Engineering; Computer Technologies and Information Sciences