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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 1, 5-12, 2010
© Author(s) 2010. This work is distributed
under the Creative Commons Attribution 3.0 License.
22 Dec 2010
From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms
L. Birglen Ecole Polytechnique of Montreal, Department of Mechanical Engineering, Ecole Polytechnique of Montreal, Montreal, QC, H3T 1J4, Canada
Abstract. In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably) oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

Citation: Birglen, L.: From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms, Mech. Sci., 1, 5-12, doi:10.5194/ms-1-5-2010, 2010.
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