Design of an underactuated grasper with adjustable compliance

Underactuated graspers are known for their self-adaptability. The final configuration of the grasper in which it obtains a stable grasp relies on the static equilibrium of the grasper and object. Any external or inertial force that acts on the object disturbs this static equilibrium and causes a change in the configuration of the grasper. The...

Underactuated hands: Fundamentals, performance analysis and design

There is an emerging need to apply adaptive robotic hands to substitute humans in dangerous, laborious, or monotonous work. The state-of-the-art robotic hands cannot fulfill this need, because they are expensive, hard to control and they consist of many vulnerable motors and sensors. It is aimed to develop simple, adaptive hands that are capable...