A Novel Type of Compliant, Underactuated Robotic Hand for Dexterous Grasping

  title={A Novel Type of Compliant, Underactuated Robotic Hand for Dexterous Grasping},
  author={Raphael Deimel and Oliver Brock},
  journal={I. J. Robotics Res.},
We built a highly compliant, underactuated, robust and at the same time dexterous anthropomorphic hand. We evaluate its dexterous grasping capabilities by implementing the comprehensive Feix taxonomy of human grasps and by assessing the dexterity of its opposable thumb using the Kapandji test. We also illustrate the hand’s payload limits and demonstrate its grasping capabilities in real-world grasping experiments. To support our claim that compliant structures are beneficial for dexterous… CONTINUE READING
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