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Full-Text Articles in Applied Mechanics
Design Of A Compliant Underactuated Robotic Finger With Coordinated Stiffness, Etienne Dessauw
Design Of A Compliant Underactuated Robotic Finger With Coordinated Stiffness, Etienne Dessauw
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
The concept of underactuation has been previously developed in the robotic field for grasping applications. For these anthropomorphic grippers, the minimization of the number of input signals, or in other words underactuation, is the most expected characteristic. This method has become very popular in recent decades. Indeed, by minimizing the number of input signals, it minimizes the complexity of the system’s control and at the same time avoids increased weight and cost. The inconvenience of such a technique is that the design of this type of system remains a difficult task if the behavior of the underactuated set of joints …