Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application

@article{Chen2021DesignPB,
  title={Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application},
  author={Tianjian Chen and Tianyi Zhang and Matei T. Ciocarlie},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={7100-7106}
}
In this paper, we focus on a rarely used paradigm in the design of underactuated robot hands: the use of springs as agonists and tendons as antagonists. We formalize this approach in a design matrix also considering its interplay with the underactuation method used (one tendon for multiple joints vs. multiple tendons on one motor shaft). We then show how different cells in this design matrix can be combined in order to facilitate the implementation of desired postural synergies with a single… 
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