Modelling Friction Phenomena in an Underactuated Tendon Driven Finger by Means of Vision System Device Data

  • Chiara Cosenza
  • Vincenzo Niola
  • Sergio SavinoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)


This study aims to improve the simulation model of a tendon driven finger, by means of experimental data acquired with a vision device. This mechanical system is part of an underactuated mechanical hand that was developed also for prosthetic purpose: the “Federica” hand. Using measured data, the multibody model has been enriched to account for friction phenomena. The friction contribution is designed to make the multibody simulation results closer to those of the real finger dynamics. At the same time, it is possible to use the improved model to study the effects of friction phenomena on the dynamic behaviour of the real mechanical system.


Underactuated robotic hand Multibody simulations Friction Digital Image Correlation 



The authors thank Marco Vassallo to contribute to this work during the master’s degree thesis.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.University of Naples Federico IINaplesItaly

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