Abstract
Tests on a prototype of an underactuated hand prosthesis, based on differential mechanisms, are described. The main aim was to examine the possibility of achieving a hand prosthesis economic, kinematically simple and easy to control; moreover inelastic tendon are used that allow the adjustment of the gripping force of an object just acting on the pulling force by the only actuator. In the paper the design of the prototype is briefly described and some results of experiments to test the hand suitability and capabilities, are shown.
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Rossi, C., Savino, S. (2016). Gripping Tests on an Underactuated Self-adapting Hand Prototype. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_22
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DOI: https://doi.org/10.1007/978-3-319-33714-2_22
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