Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

Front. Mech. Eng. ›› 2006, Vol. 1 ›› Issue (1) : 33-39.

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Front. Mech. Eng. ›› 2006, Vol. 1 ›› Issue (1) : 33-39. DOI: 10.1007/s11465-005-0015-6

Superunderactuated Multifingered Hand for Humanoid Robot

  • ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
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Abstract

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

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ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei. Superunderactuated Multifingered Hand for Humanoid Robot. Front. Mech. Eng., 2006, 1(1): 33‒39 https://doi.org/10.1007/s11465-005-0015-6
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