The ability of underactuated hands to grasp and hold objects

DOI10.1016/J.MECHMACHTHEORY.2009.10.002MaRDI QIDQ994101zbMATH OpenOpenAlexFDO

Authors Gert A. Kragten, Just L. Herder

Publication date 17 September 2010

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2009.10.002

zbMATH Keywords

graspingholdingperformancerobotic handsunderactuation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• A planar geometric design approach for a large grasp range in underactuated hands
• Simulation and design of underactuated mechanical hands.
• Grasp-state plane analysis of two-phalanx underactuated fingers
• scientific article; zbMATH DE number 4176542
• Force‐closed grasping with two hands

Cites work

• Design of a cybernetic hand for perception and action
• Designing an underactuated mechanism for a 1 active DOF finger operation
• Grasp-state plane analysis of two-phalanx underactuated fingers
• Simulation and design of underactuated mechanical hands.
• Underactuated robotic hands

Cited in

(8)

• Grasp and delivery for moving objects on broken lines
• Grasp-state plane analysis of two-phalanx underactuated fingers
• Human hand modelling: kinematics, dynamics, applications
• Force‐closed grasping with two hands
• Toeard a formulation of the human grasping quality sense
• Theoretical and experimental study of the performance of flat suction cups in the presence of tangential loads
• A planar geometric design approach for a large grasp range in underactuated hands
• Kinematic chains for robot hands: grasp and rigidity

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