Combining the simple design with the implementation capability of underactuated hands is challenging task. In this context, it is necessary to find a compromise between the number of actuators, the grasping abilities and the control strategy. Here, an analytical study is proposed to improve the precision grasping performance together with a simple control strategy of a three-finger underactuated hand.
Analytical study for the capability implementation of an underactuated three-finger hand / Cosenza, Chiara; Niola, Vincenzo; Savino, Sergio. - 65:(2019), pp. 161-168. (Intervento presentato al convegno 6th New Trends in Medical and Service Robotics MESROB 2018) [10.1007/978-3-030-00329-6_19].
Analytical study for the capability implementation of an underactuated three-finger hand
Cosenza Chiara
;Niola Vincenzo;Savino Sergio
2019
Abstract
Combining the simple design with the implementation capability of underactuated hands is challenging task. In this context, it is necessary to find a compromise between the number of actuators, the grasping abilities and the control strategy. Here, an analytical study is proposed to improve the precision grasping performance together with a simple control strategy of a three-finger underactuated hand.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
