Design and control of underactuated tendon-driven mechanisms

@article{Ozawa2009DesignAC,
  title={Design and control of underactuated tendon-driven mechanisms},
  author={Ryuta Ozawa and Kazunori Hashirii and Hiroaki Kobayashi},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={1522-1527}
}
Many robotic hands or prosthetic hands have been developed in the last several decades, and many use tendon-driven mechanisms for their transmissions. Robotic hands are now built with underactuated mechanisms, which have fewer actuators than degrees of freedom, to reduce mechanical complexity or to realize a biomimetic motion such as flexion of an index finger. The design is heuristic and it is useful to develop design methods for the underactuated mechanisms. This paper classifies mechanisms… CONTINUE READING

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