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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 2, issue 1
Mech. Sci., 2, 33-40, 2011
https://doi.org/10.5194/ms-2-33-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Underactuated Grasping

Mech. Sci., 2, 33-40, 2011
https://doi.org/10.5194/ms-2-33-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

  08 Feb 2011

08 Feb 2011

Kinematic design of a finger abduction mechanism for an anthropomorphic robotic hand

L.-A. A. Demers and C. Gosselin L.-A. A. Demers and C. Gosselin
  • Département de génie mécanique, Université Laval, Québec, QC, G1V 0A6, Canada

Abstract. This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its complexity. The analysis of the link between the index finger and the third finger is first assessed, where the parameters are studied in order to follow the amplitude constraint and to minimize the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized. Finally, a prototype of the finger's abduction system is presented.

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

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