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http://dx.doi.org/10.7746/jkros.2014.9.4.258

Tendon-driven Adaptive Robot Hand  

Yu, Hong-Seon (Mechatronics, Korea University)
Kim, Min-Cheol (Mechanical Engineering, Korea University)
Song, Jae-Bok (Mechatronics, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.9, no.4, 2014 , pp. 258-263 More about this Journal
Abstract
An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.
Keywords
Robot hand; Adaptive grasp; Under-actuated mechanism;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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