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Directly self-adaptive under-actuated (DSUA) hands have great potential to stably grasp different objects in unstructured environments. This paper develops a DSUA Hand based on multi-pulley-belt mechanism, which consists of 5 fingers and has 14 DOF. Self-adaptation is designed as the main function of it. The stability of DSUA hand’s grasping process does not highly depend on control algorithm, sensors...
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