A compliant, underactuated hand for robust manipulation

@article{Odhner2014ACU,
  title={A compliant, underactuated hand for robust manipulation},
  author={Lael Odhner and Leif P. Jentoft and Mark R. Claffee and Nick Corson and Yaroslav Tenzer and Raymond R. Ma and Martin Buehler and Robert C. Kohout and Robert D. Howe and Aaron M. Dollar},
  journal={The International Journal of Robotics Research},
  year={2014},
  volume={33},
  pages={736 - 752}
}
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of the iHY Hand, which was developed by choosing a set of target tasks around which the hand was… 

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A minimalist, four-finger hand comprised of two pairs of tendon-driven, underactuated fingers decoupled by an independent, central, rotating axis is presented, capable of a unique set of dexterous manipulation primitives, including finger-gaiting and precision manipulation.

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