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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...
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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