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This paper introduces a novel coupled and self-adaptive underactuated hand (COSA-E hand). COSA-E hand has 8 degrees of freedom and three fingers. It is more humanoid compared to traditional self-adaptive hands and more secure compared to traditional coupled hands. The hybrid mode is realized by the eccentric wheel and sliding chute mechanism. Geometric analysis gives the self-adaptive and coupled...
In contrast to tradition rigid-linkage manipulators, continuum manipulators feature an integral, elastic structure. Though able to achieve a high degree of freedom and maneuverability, the actuation system is usually highly complex. The Fluid-Skeleton Elastic Manipulator (FSEM) proposed in this paper contains a tendon-driven actuation system and several fluid-skeleton units, which contains several...
Design of a novel under-actuated finger was proposed in this paper. The coupled gesture-changeable finger overcomes disadvantages of two convenient kinds of under-actuated finger: coupled finger and self-adaptive finger. Decided by different grasping targets, the finger's operation process is divided into three kinds: coupled only process, self-adaptive only process and coupled self-adaptive process...
Compared with traditional dexterous humanoid robotic hands, underactuated robotic hands have the advantages of self-adaptive grasp and easy real-time control. In this paper, the development of a novel underactuated robotic hand is presented. This hand has five fingers and through using underactuation, the self-adaptability of each finger is achieved. This underactuated humanoid robotic hand can accomplish...
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