Design and performance assessment of an underactuated hand for industrial applications

The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2,...

Artificial hand

Artificial hand (1) suitable for robotic applications or as a prosthesis, comprising a frame (2) with a thumb (3) and at least two fingers (4,5), and having a motor drive (6) for adjusting the thumb and the fingers with respect to the frame, wherein the motor drive has a housing (7) and an axle (8) which is rotatably positioned within the...

A proposal for benchmark tests for underactuated or compliant hands

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...