This article presents a novel flexible pivot with large angular range and small center shift. It
is conceived to provide the interphalangeal rotational degrees of freedom of the fingers of a
new bio-inspired robotic hand, simultaneously removing friction and backlash from the
mechanism. The specifically developed mathematical model shows that the proposed
solution meets all design requirements. Preliminary tests carried out on a prototype show an
accurate matching between the model and the real behavior. The advantages offered by the …

This paper presents a novel flexible pivot with large angular range and small center shift. It is
conceived to provide the inter-phalangeal rotational degrees of freedom of the fingers of a
new bio-inspired robotic hand, simultaneously removing friction and backlash from the
mechanism. The specifically developed mathematical model shows that the proposed
solution meets all design requirements. Preliminary tests carried out on a prototype show an
accurate matching between the model and the real behavior. The advantages offered by the …