Low-friction tendon-driven robot hand with carpal tunnel mechanism in the palm by optimal 3D allocation of pulleys


Underactuated hands usually have high adaptability in power grasping but they are limited in pinching task with fingertip. In this paper, we propose the design of a tendon-driven underactuated hand that is capable of fingertip pinching by utilizing our proposed coupling mechanism. To reduce the friction resulting from tendon routing, we introduce the carpal… (More)
DOI: 10.1109/ICRA.2014.6907854


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