Grasping and manipulation skills are at the core of the development of modern robotic
systems. With the introduction of robotics in new applications involving unstructured …

Current prosthetic hands are basically simple grippers with one or two degrees of freedom,
which barely restore the capability of the thumb-index pinch. Although most amputees …

Commercially available prosthetic hands are simple grippers with one or two degrees of
freedom; these pinch type devices have two rigid fingers in opposition to a rigid thumb. This …

An" ideal" upper limb prosthesis should be perceived as part of the natural body by the
amputee and should replicate sensory-motor capabilities of the amputated limb. However …

In order to calculate and measure the performance of underactuated hands to pick up and
move various objects, two new performance metrics have been defined. These metrics …

To adapt to many different objects and tasks, hands are very complex systems with many
degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at …

This paper studies the grasp stability of two classes of three-phalanx underactuated fingers
with transmission mechanisms based on either linkages or tendons and pulleys. The …

Body-powered prostheses are known for their advantages of cost, reliability, training period,
maintenance, and proprioceptive feedback. This study primarily aims to analyze the work …

Our paper proposes a tendon-driven robotic finger based on an anatomical model of a
human finger and a suitable method for its analysis. Our study aims to realize an …

In this paper we present a series of design directions for the development of affordable,
modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily …