Chris Durand

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—This paper presents a new pneumatically driven underactuated hand with two fingers and 3 phalanxes per finger. Two evidences have led the design of this hand. Firstly, the use of pneumatic energy facilitates the underactuation of the hand, indeed a single T-connector suffices to share out one input among two outputs. Secondly, non-backdrivable mechanisms(More)
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