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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, 27–32, 2010
https://doi.org/10.5194/ms-1-27-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 1, 27–32, 2010
https://doi.org/10.5194/ms-1-27-2010
© Author(s) 2010. This work is distributed under
the Creative Commons Attribution 3.0 License.

  22 Dec 2010

22 Dec 2010

Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons

D. Che and W. Zhang D. Che and W. Zhang
  • Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

Abstract. The concept called gesture-changeable under-actuated (GCUA) function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA) grasping motion and special pre-bending (PB, or pre-shaping) motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand.

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

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