By Topic

Kinetostatic analysis of underactuated fingers

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
L. Birglen ; Dept. of Mech. Eng., Laval Univ., Que., Canada ; C. M. Gosselin

The aim of this paper is to establish a fundamental basis for the analysis of underactuated fingers with a general approach. A new method to obtain the force capabilities of any underactuated fingers will be presented. Force capability is defined as the ability to generate an external wrench onto a fixed object with a given set of phalanges. This method is based on the introduction of two new matrices which completely describe the relationship between the input torque of the finger actuator(s) and the contact forces on the phalanges. Using this tool, one can study the conditions under which certain phalanx forces vanish, and compare different underactuation mechanisms with a rigorous approach.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:20 ,  Issue: 2 )