Papers for

robotic hand designers

Papers whose findings have a practical use for this group, as judged from the abstract. Open a paper to read what it means in practice.

Underactuated multi-finger hand design improves stable object grasping

Quasi-static analysis of passive stability in a novel underactuated multi-finger hand

Abstract: Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predicting the stable equilibrium pose of the grasped object remains a significant challenge. This paper introduces a quasi-static analytical approach to assess passive stability in underactuated multi-finger hands. A novel three-finger hand architecture integrating a differential spring-loaded slider mechanism is introduced, enabling versatile and adaptive grasping. The study focuses on how the differential mechanism influences the overall grasp behavior and analyzes the effect of object size on the stable equilibrium configurations for two canonical grasp types: cylindrical and spherical.

Thu 10 SeptRobotics

The gist

Grasping objects with robotic hands that use fewer motors is tricky because it's hard to predict how the object will stay balanced. The authors created a new three-finger robotic hand with a clever spring and slider system that adapts its grip more naturally. They studied how this design affects the hand's ability to hold cylindrical and spherical objects stably, considering different object sizes. Their approach helps understand which hand positions will keep an object from slipping or falling.

Open → 2609.11579v1