A grasping analysis is presented of an underactuated finger driven by unextensible tendon. The finger itself is one of those of a mechanical prosthesis that was principally conceived as human prosthesis. After a brief description of the whole system constituted by the mechanical hand, the model to predict the behavior of the finger during the grasping is presented; then some examples of grasping are presented. The model can be useful for both the under-actuated finger design and for the prediction of the capabilities of the whole hand.
A model for the grasping analysis of an underactuated finger driven by unextensible tendon / Niola, Vincenzo; Rossi, Cesare; Savino, Sergio. - (2016). (Intervento presentato al convegno 20th International Conference on Circuits, Systems, Communications and Computers (CSCC 2016) tenutosi a Corfu nel 14-17 July).
A model for the grasping analysis of an underactuated finger driven by unextensible tendon
NIOLA, VINCENZO;ROSSI, CESARE;SAVINO, Sergio
2016
Abstract
A grasping analysis is presented of an underactuated finger driven by unextensible tendon. The finger itself is one of those of a mechanical prosthesis that was principally conceived as human prosthesis. After a brief description of the whole system constituted by the mechanical hand, the model to predict the behavior of the finger during the grasping is presented; then some examples of grasping are presented. The model can be useful for both the under-actuated finger design and for the prediction of the capabilities of the whole hand.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
