Abstract
Combining the simple design with the implementation capability of underactuated hands is a challenging task. In this context, it is necessary to find a compromise between the number of actuators, the grasping abilities and the control strategy. Here, an analytical study is proposed to improve the precision grasping performance together with a simple control strategy of a three-finger underactuated hand.
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Acknowledgments
The authors thank Antonio Lombardo to contribute to this work during the master’s degree thesis.
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Cosenza, C., Niola, V., Savino, S. (2019). Analytical Study for the Capability Implementation of an Underactuated Three-Finger Hand. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_19
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DOI: https://doi.org/10.1007/978-3-030-00329-6_19
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