Relevant bibliographies by topics / Under-actuated finger

Academic literature on the topic 'Under-actuated finger'

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Published: 4 April 2023

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Journal articles on the topic "Under-actuated finger"

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Che, D., and W. Zhang. "Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons." Mechanical Sciences 1, no. 1 (December 22, 2010): 27–32. http://dx.doi.org/10.5194/ms-1-27-2010.

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Abstract. The concept called gesture-changeable under-actuated (GCUA) function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA) grasping motion and special pre-bending (PB, or pre-shaping) motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
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Liu, Siyun, Wenzeng Zhang, and Jie Sun. "A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism." Industrial Robot: the international journal of robotics research and application 46, no. 5 (August 19, 2019): 660–71. http://dx.doi.org/10.1108/ir-12-2018-0247.

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Purpose Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger. Design/methodology/approach CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.
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Ertas, Ismail Hakan, Elif Hocaoglu, and Volkan Patoglu. "AssistOn-Finger: An under-actuated finger exoskeleton for robot-assisted tendon therapy." Robotica 32, no. 8 (July 17, 2014): 1363–82. http://dx.doi.org/10.1017/s0263574714001957.

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SUMMARYWe present AssistOn-Finger, a novel under-actuated active exoskeleton for robot-assisted tendon therapy of human fingers. The primary use for the exoskeleton is to assist flexion/extension motions of a finger within its full range, while decreasing voluntary muscle contractions helping to keep the tendon tension levels to stay within acceptable limits, avoiding gap formation or rupture of the suture. The device can also be employed to administer range of motion (RoM)/strengthening exercises. AssistOn-Fingeris designed to be passively back-driveable, can cover the whole RoM of patients, and can do so in a natural and coordinated manner. In particular, the device employs human finger as an integral part of its kinematics and when coupled to a human operator, the parallel kinematic structure of exoskeleton supports three independent degrees of freedom, dictated by the kinematics of the human finger. Automatically aligning its joint axes to match finger joint axes, AssistOn-Fingercan guarantee ergonomy and comfort throughout the therapy. The self-aligning feature also significantly shortens the setup time required to attach the patient to the exoskeleton. We present the kinematic type selection for the exoskeleton to satisfy the design requirements for tendon therapy applications, detail optimal dimensional synthesis of the device considering trade-offs between multiple design criteria and discuss implementation details of the exoskeleton. We also present feasibility studies conducted on healthy volunteers and provide statistical evidence on the efficacy of exoskeleton driven exercises in keeping the average muscle recruitment and the maximum tendon tension levels as low as human guided therapies.
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Huang, Hai, Shu Qiang Jiang, Yong Jie Pang, and Jiang Li. "A Bio-Mechanical Designed Under-Actuated Hand and Force Control Schemes." Advanced Materials Research 538-541 (June 2012): 3281–85. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.3281.

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In order to mimic the natural appearance, motion and perception of the human hand, a biomechatronic approach to design an anthropomorphic Under-actuated hand-HIT/DLR Under-actuated Hand has been presented. It reproduces human hand in its fundamental structure such as appearance, weight, dimensions and inertia. Its thumb can move along a cone surface in 3-D space. Similar with humans’, it combines with abduction and adduction from palmar position to lateral position. Actuated by only one motor, the mid finger, ring finger and little finger can envelop complex objects. Furthermore by applying dynamics model, the force-based impedance control can realize more accurate and stable force control during grasp. Experiments displays dynamic control can make the finger grasp with more smooth and precise trajectory and stable grasp force, these would be particularly helpful for the widely application of underactuated hand.
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Xia, Yan, Rong Qiang Liu, Hong Wei Guo, and Zong Quan Deng. "Design and Analysis of an Under-Actuated Self-Adaptive Mechanical Hand." Applied Mechanics and Materials 602-605 (August 2014): 1083–89. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1083.

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A kind of under-actuated self-adaptive mechanical hand was developed in this paper. This mechanical hand consists of three 3-dof under-actuated fingers, and four motors are adopted to drive nine joints. The hand has self-adaptation to targets in different shapes and sizes and it can perform actions, such as folding, unfolding and grasping. In addition, a quasi-statics model of the 3-dof under-actuated finger was established in this paper. The relationship equation between the grasping forces and the driving and damping torques was obtained, and the influence of target size and driving torques on the grasping forces was also discussed. The results of the simulation analysis were shown to verify the correctness of the quasi-statics model.
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Zhang, Wenzeng. "UNDER-ACTUATED HUMANOID ROBOT FINGER WITH SHAPE ADAPTATION." Chinese Journal of Mechanical Engineering 40, no. 10 (2004): 115. http://dx.doi.org/10.3901/jme.2004.10.115.

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CHE, DEMENG, and WENZENG ZHANG. "A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND." International Journal of Humanoid Robotics 08, no. 01 (March 2011): 73–86. http://dx.doi.org/10.1142/s0219843611002435.

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Gesture-changeable under-actuated (GCUA) function is put forward to make traditional under-actuated hands feel easy to grasp different objects and do simple operations dexterously, simultaneously, this function can lower control difficulties of robotic hands. Based on GCUA function, a GCUA hand based on pulley-belt mechanism is designed in detail and manufactured. The Hand can grasp different objects self-adaptively and change its initial gesture dexterously before touching objects. The hand has 5 fingers and 15 DOFs, each finger utilizes screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realize GCUA function. The analyses on grasping static forces and grasping stabilities are given. The analyses and experimental results show that GCUA function is very nice and valid. The hands with GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.
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ZHANG, WENZENG, DEYANG ZHAO, HAIPENG ZHOU, ZHENGUO SUN, DONG DU, and QIANG CHEN. "TWO-DOF COUPLED AND SELF-ADAPTIVE (COSA) FINGER: A NOVEL UNDER-ACTUATED MECHANISM." International Journal of Humanoid Robotics 10, no. 02 (June 2013): 1330001. http://dx.doi.org/10.1142/s0219843613300018.

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A large amount of effort has been devoted to design better under-actuated robot hands. The most widely adopted approaches include rigid coupled hands and self-adaptive hands. The objective of this research is to design a robot finger which combines advantages of both ways and overcomes their disadvantages. The concept of coupling and self-adaptation (COSA) was introduced. A linkage-based two-DOF (degree of freedom) COSA robot finger was designed, optimized and studied in this paper. The theoretical analysis and the experiments on the finger show that it is able to execute human-like motion and adaptive grasps in multiple patterns. The research exposes a promising novel under-actuated mechanism for hands design with wide applications.
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ZHANG, Wenzeng. "Development of Gesture-Changeable under-actuated Humanoid Robotic Finger." Chinese Journal of Mechanical Engineering 23, no. 02 (2010): 142. http://dx.doi.org/10.3901/cjme.2010.02.142.

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Zhang, Xiaoguang, Taoyuanmin Zhu, Itsui Yamayoshi, and Dennis Hong. "Dexterity, Sensitivity and Versatility: An Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Actuation." International Journal of Humanoid Robotics 17, no. 02 (February 13, 2020): 2050006. http://dx.doi.org/10.1142/s0219843620500061.

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A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied with mechanical intelligence principles carefully designed and embedded such that optimal trajectories for grabbing are naturally followed and the fingers can automatically conform to the goal object. A generalizable potential energy flow theory is then proposed to explain the mechanism behind the mechanical intelligence. The theory is also supported by experimental results. Quasi-direct drive actuators were developed to actuate the robotic hand with proprioceptive force sensing and inherent compliance. The hand performs delicate force-controlled manipulation with a simple compliance controller implemented.
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Dissertations / Theses on the topic "Under-actuated finger"

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Hamon, Pol. "Conception et contrôle d'un préhenseur sous-actionné pour la saisie d'objets complexes." Electronic Thesis or Diss., Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0065.

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Cette thèse présente une architecture de main avec trois doigts sous-actionnés. Chaque doigt effectue des mouvements spatiaux afin d’obtenir une saisie plus complexe et variée que les doigts à mouvements planairesexistants. L’objectif de cette main est de saisir des pièces de forme complexe à la sortie des centres d’usinage. Parmi la taxonomie des préhensions, les préhensions cylindriques et sphériques sont souvent utilisées pour saisir des objets. Après une présentation de la cinématique des doigts avec les préhensions cylindriques et sphériques d’un prototype, cette thèse propose d’aborder le problème de la stabilité d’un doigt pour un cas général avant de s’attarder sur le cas particulier de la préhension d’un disque. Les résultats théoriques sont comparés à une simulation dynamique avec le logiciel ADAMS. Dans cette thèse, le choix est fait d’un actionnement par des muscles pneumatiques alimentés par une seule source de pression pneumatique. L’impact de ce choix d’actionnement sur la stabilité de la pièce dans une main robotique à 3 doigts est présenté. Un prototype complet de la main est construit, ce qui permet de valider l’ensemble des choix et d’aborder le contrôle du préhenseur sous actionné en force et en vitesse avec une commande sans modèle. Dans un premier temps, cette stratégie de contrôle est appliquée sur un doigt avec un degré de liberté avant d’être élargie au prototypede la main robotique
This PhD thesis presents a hand architecture with three under-actuated fingers. Each finger performs spatial movements toachieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to grasp complexshaped workpieces as they leave the machining centers. Among the taxonomy of grips, cylindrical and spherical grips are often used to grasp heavy objects. After a presentation of the kinematics of the fingers with the cylindrical and spherical grips of a prototype, this article proposes to approach the problem of stability in a generic case before focusing on the case of gripping a disc. Theoretical results are compared to a dynamic simulation with the ADAMS software. In this thesis, the choice is made of an actuation by pneumatic muscles powered by a single pneumatic power source. The implication of this choice of actuation on the stability of the part in a 3-finger robotic hand is presented. A complete prototype of the hand is built, which makes it possible to validate the whole of the choices and to start the control of gripper under actuated in force and speed with a control without a model. At first, this control strategy is applied for a finger with one degree of freedom before being extended to the prototype of the robotic hand
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Santos, João Guilherme Alves dos. "Bio-inspired robotic gripper with hydrogel-silicone soft skin and 3d printed endoskeleton." Master's thesis, 2017. http://hdl.handle.net/10316/82840.

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Trabalho de Projeto do Mestrado Integrado em Engenharia Física apresentado à Faculdade de Ciências e Tecnologia
Neste projeto, desenvolve-se um dedo inovador e inspirado biologicamente, com fisiologia semelhante à de um dedo humano. O dedo "soft" é feito com um núcleo impresso em 3D para substituir o endoesqueleto dos dedos humanos, com uma pele elástica de silicone para substituir a camada epidérmica elástica e resiliente e um enchimento de hidrogel para substituir a camada dérmica. No dedo humano, a camada dérmica é mais macia do que a camada epidérmica e contém uma quantidade considerável de água, portanto, deve ser protegida pela camada epidérmica, que é mais resistente. Esta não só protege a camada subjacente do desgaste mecânico, mas também fornece uma barreira contra a perda de água. Por outro lado, a camada dérmica, ao ser mais suave, ajuda numa melhor adaptação local da pele para agarrar os objectos eficientemente. A camada epidérmica de silicone destina-se a ser elástica, maleável e protege o hidrogel de maneira que este não perca água ao longo do tempo. O enchimento de hidrogel do dedo é feito de poliacrilato de sódio e água destilada; o material utilizado como silicone é Ecoflex 00-30 e o endoesqueleto do dedo é feito de acrilonitrilo butadina estireno (ABS).Também foi desenvolvido um protótipo de baixo custo de uma pinça sub-atuada integrando três destes dedos. Tem um mecanismo baseado nos "push base toys" e foi inteiramente impresso numa impressora "fusion deposition modelling" (FDM) com material ácido poliláctico (PLA). Um único motor acciona o sistema puxando para cima e para baixo os tendões que estão integrados nos dedos, forçando-os abrir ou fechar, com o propósito de agarrar ou soltar objetos.Os dedos foram primeiramente testados individualmente. A força necessária para a flexão total dos dedos foi medida e comparada com uma versão anterior do dedo que contém apenas a camada epidérmica sem a camada dérmica de hidrogel. Os resultados mostram uma melhora na redução da força necessária para a flexão. Também a pinça integrada com a nova versão dos dedos foi desenvolvida e testada para agarrar vários objectos incluindo frutas macias.No final da dissertação, alguns ensaios de \textit{pick and place} são analisados e é concluído que foi conseguido um dedo "soft" óptimo que pode ser usado em pinças e próteses. Apesar do seu excelente desempenho, o preço geral dos materias usados para a pinça robótica desenvolvida nesta dissertação é de 15 Euros, incluindo o actuador. Também é apresentado trabalho futuro tanto para a pinça como para o dedo "soft".
On this project, an innovative and bio-inspired finger is developed, resembling the physiology of a biological human finger. The soft finger is made of a 3D-printed core to substitute the fingers’ endoskeleton, a silicon elastomer skin to substitute the elastic and resilient epidermal layer and a hydrogel filling to substitute the dermal layer. The dermal layer in human finger is softer than the epidermal layer and contains a considerable amount of water, and therefore should be protected by the more resilient epidermal layer, that not only protects the underlying layer from mechanical wear, but it also provides a barrier against losing the water. On the other hand, the softer dermal layer helps in better local adaptation of the skin to objects for efficient grasping. The silicone epidermal layer is intended to be elastic, malleable and protects the hydrogel from losing water over the time. The hydrogel filling of the finger is made from sodium polyacrylate (SPA) and distilled water; the material used as the silicone is Ecoflex 00-30 and the finger core is made of acrylonitrile butadine styrene (ABS).A low-cost prototype of an under-actuated gripper was also developed integrating three of these fingers. It has a mechanism based on the push base toys and it was fully printed on a fusion deposition modelling (FDM) printed with polylactic acid material (PLA). A single motor actuates the system by pulling up and down the tendons that are integrated in the fingers, making them open or close, in order to grip or drop objects.Fingers were tested first individually.The required force for full flexion of the fingers were measured and compared to a previous version of the finger that contains only the epidermal layer without containing the hydrogel dermal layer. Results show an improvement in reduction of the required force for flexion. Also the integrated gripper with the new version of the fingers were developed and tested for grasping several objects including soft fruits.At the end of the dissertation, some gripping tests are analysed and concluding that was achieved an optimal soft finger that can be used in grippers and prosthesis. Despite its excellent performance, the overall bill of materials of the full gripper developed in this dissertation is 15 Euros, including the actuator. Also future work is presented both for the gripper and the soft finger.
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Jafargholibeik, Nasim. "Design and optimization of a three-fingered robot hand." Thesis, 2011. http://hdl.handle.net/10155/154.

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Humanoid robots have proven to be very useful and could revolutionize the way humans live. Knowing human anatomy and behaviour helps improve a robotic mechanisms ability to perform human tasks. The following thesis introduces the concept of a threefingered robot hand and its driving mechanism. The hand includes two fingers and a thumb. Using the concept of “an under actuated system”, each finger consists of three revolute joints which are driven by two actuators and tooth belt transmission system. The thumb has two joints but only one joint is active and actuated by one motor. The passive joint is designed to set the initial position of the thumb on the piano key if necessary. Required angle of rotation for each joint has been calculated through Inverse Kinematics. Once the fingertip presses the piano key, it should apply 1N force to play a note. Force Sensing Resistors at each finger tip, as a control method, are introduced to the system to accurately measure the amount of applied force from the finger tip on the key and increase the angle of rotation of the motor if needed. Stress and deformation of the joints have been studied through Finite Element Analysis. A prototype model, consisting of a single finger was built to better understanding the functionality of the concept. Analysis of this model, led to necessary modification of the transmission system and some design revisions to each link. Genetic Algorithm using MATLAB was used to optimize the performance Index of a finger. Finally the hand assembly including all the components and driving mechanism was constructed and experimented in the playing mode.
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Book chapters on the topic "Under-actuated finger"

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Liu, Yifan, and Wenzeng Zhang. "Hybrid Under-Actuated Robotic Finger with Triple Pulley-Belt Mechanism." In Informatics in Control, Automation and Robotics, 447–52. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25992-0_62.

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Niola, Vincenzo, Cesare Rossi, and Sergio Savino. "Influence of the Tendon Design on the Behavior of an Under-Actuated Finger." In Advances in Service and Industrial Robotics, 1033–42. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_111.

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Savino, Sergio. "Multibody Model of Under-Actuated Tendon Driven Finger to Study the Antagonist Tendon." In Mechanisms and Machine Science, 175–82. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-48375-7_19.

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Sun, Jie, and Wenzeng Zhang. "COSA Finger: A Coupled and Self-Adaptive Under-actuated Unit for Humanoid Robotic Hand." In Social Robotics, 172–81. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-17248-9_18.

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Feng, Rui, and Yifan Wei. "Analyses of a Novel Under-Actuated Double Fingered Dexterous Hand." In Intelligent Robotics and Applications, 727–38. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65292-4_63.

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Conference papers on the topic "Under-actuated finger"

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Bandara, D. S. V., R. A. R. C. Gopura, G. Kajanthan, M. Brunthavan, and H. I. M. M. Abeynayake. "An under-actuated mechanism for a robotic finger." In 2014 IEEE 4th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2014. http://dx.doi.org/10.1109/cyber.2014.6917498.

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Wassink, Martin, Raffaella Carloni, and Stefano Stramigioli. "Compliance analysis of an under-actuated robotic finger." In EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010). IEEE, 2010. http://dx.doi.org/10.1109/biorob.2010.5628054.

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Li, Qi, Dan Wang, Wenzeng Zhang, and Zhenguo Sun. "Switchable under-actuated finger with multiple grasping modes." In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2013. http://dx.doi.org/10.1109/robio.2013.6739545.

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Sabetian, Pouya, Amir Feizollahi, Farzad Cheraghpour, and S. Ali A. Moosavian. "A compound robotic hand with two under-actuated fingers and a continuous finger." In 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 2011. http://dx.doi.org/10.1109/ssrr.2011.6106774.

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Wang, Long, Wenzeng Zhang, Yuming Ye, Qiang Chen, and Dong Du. "The indirect style under-actuated robotic finger with tendon-slider mechanisms." In 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2009. http://dx.doi.org/10.1109/robio.2009.5420428.

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Ozawa, Ryuta, and Michinori Moriya. "Effects of elasticity on an under-actuated tendon-driven robotic finger." In 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2010. http://dx.doi.org/10.1109/robio.2010.5723444.

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Ahrary, Alireza. "A novel approach to mechanical design of under-actuated robot finger." In 2012 IEEE International Conference on Control System, Computing and Engineering (ICCSCE). IEEE, 2012. http://dx.doi.org/10.1109/iccsce.2012.6487157.

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Zhou, Haipeng, Lei Yang, Wenzeng Zhang, Zhenguo Sun, and Qiang Chen. "COSA-UDA finger: A novel coupled and self-adaptive under-actuated finger with upside-down actuator." In 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2012. http://dx.doi.org/10.1109/robio.2012.6491327.

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Zhao, Longchao, and Satyandra K. Gupta. "Design, Manufacturing, and Characterization of a Pneumatically-Actuated Soft Hand." In ASME 2018 13th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/msec2018-6622.

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Soft robotic hands can be used to manipulate delicate parts. The use of under-actuated fingers can significantly reduce the number of actuators and the complexity of the hand structure. This in turn can lower the cost of realizing robotic hands. This paper presents a new design for a multi-fingered soft hand for robotic applications. We adapt the fusible core molding process to realize complex inner cavities needed in pneumatically-actuated fingers. We also introduce a method for predicting the finger motion using pseudo-rigid-body model. We demonstrate that the soft hand can achieve the desired shapes and apply the required forces in tasks such as handling, grasping, pinching, clipping, and fastening.
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Sarakoglou, Ioannis, Anais Brygo, Dario Mazzanti, Nadia Garcia Hernandez, Darwin G. Caldwell, and Nikos G. Tsagarakis. "HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback." In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016. http://dx.doi.org/10.1109/iros.2016.7759176.

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