Erratum to: Mechanisms for linkage-driven underactuated hand exoskeletons: conceptual design including anatomical and mechanical specifications
نویسندگان
چکیده
منابع مشابه
Underactuated Hand Design Using Mechanically Realizable Manifolds
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be physically implemented in an underactuated fashion. Given a kinematic hand model and a set of desired grasps, our algorithm optimizes a Mechanically Realizab...
متن کاملAN UNDERACTUATED MECHANICAL HAND PROSTHESYS BY IFToMM ITALY
This paper describes a mechanical underactuated hand, whose design is under patenting. The proposed hand can be used as robot grasping end-effector and, mainly, as a human prosthesis. The proposed underactuated mechanism is based on an adaptive scheme, hence it permits to move five fingers with only one actuator. The actuator is connected to a set of pulleys that operate five tendons. Each tend...
متن کاملDesign and Control of an Underactuated Prosthetic Hand
The robotic hands can be divided into two major groups: fully-actuated and underactuated hands. In fully-actuated hands all the joints have separate motors, while in underactuated hands the number of motors is less than number of degrees of freedom. The underactuated hands can adapt to the object shape by use of their mechanical design while they have less functionality. A relationship between ...
متن کاملDesign and Development of an Underactuated Prosthetic Hand
Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumbindex pinch. Although most amputees consider this performance as acceptable 6r usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronic design and technology. This paper focus on an innovative approach for the design an...
متن کاملLinkage-Based Analysis and Optimization of an Underactuated Planar Manipulator for In-Hand Manipulation
This paper investigates the in-hand manipulation capabilities of a compliant, underactuated planar robotic hand by treating the system as a simple, symmetric, 6-bar linkage mechanism with compliant joints. Although underactuated hands are generally not considered to be adept at dexterous tasks, we have found through past work that an underactuated manipulator can control n degrees of freedom wi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal on Interactive Design and Manufacturing (IJIDeM)
سال: 2016
ISSN: 1955-2513,1955-2505
DOI: 10.1007/s12008-016-0303-x