A Force-Isotropic Underactuated Finger

Sébastien Krut 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the design of a new underactuated finger. The main characteristic of this twodegree- of-freedom / one-actuator finger is to be force-isotropic. This means that the intensity of the forces exerted at the center of each phalanx, on the grasped object, are identical. Until now, this characteristic was observed on some underactuated fingers for some very specific configurations only (mainly when the phalanxes were lined up). With the proposed finger, this characteristic remains true whatever the configuration of the phalanxes is.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00106463
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Submitted on : Monday, October 16, 2006 - 8:29:26 AM
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Sébastien Krut. A Force-Isotropic Underactuated Finger. ICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.2314-2319, ⟨10.1109/ROBOT.2005.1570458⟩. ⟨lirmm-00106463⟩

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