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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 1, issue 1
Mech. Sci., 1, 13-18, 2010
https://doi.org/10.5194/ms-1-13-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 1, 13-18, 2010
https://doi.org/10.5194/ms-1-13-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

  22 Dec 2010

22 Dec 2010

A proposal for benchmark tests for underactuated or compliant hands

G. A. Kragten, C. Meijneke, and J. L. Herder G. A. Kragten et al.
  • Faculty of Mechanical, Maritime and Materials Engineering, Dept. of BioMechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands

Abstract. There is a lack of agreement in the literature as to what exactly quantifies the performance of underactuated hands. This paper proposes two benchmark tests to measure the ability of underactuated hands to grasp different objects and the ability to hold the objects when force disturbances apply. The first test determines the smallest and largest cylindrical object which can be successfully grasped in an enveloping grasp or in a pinch grasp. The second test provides the maximal allowable force which can be applied to a grasped object without loosing it. A setup was constructed consisting of standard components. Exemplary tests were applied to the Delft Hand 2. The proposed benchmark tests are representative to quantify the performance of pick and place operations with underactuated hands. The results of the tests can be applied to evaluate, compare, and improve the performance of robotic hands.

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

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