Introduction
If one or more phalanx force is negative when an underactuated finger closes on an object, the corresponding phalanx will loose contact with the latter object. Then, another step in the grasping process will take place: the remaining phalanges—corresponding to positive forces—will slide on the surface of the object. This sliding process will continue until either a stable configuration is achieved (with only positive or zero phalanx forces) or joint limits are reached (usually a stable situation, but the shape adaptation is less effective) or the finger will curl away and loose contact with the object (ejection).
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© 2007 Springer-Verlag Berlin Heidelberg
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Birglen, L., Laliberté, T., Gosselin, C. (2007). Grasp Stability of Underactuated Fingers. In: Underactuated Robotic Hands. Springer Tracts in Advanced Robotics, vol 40. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77459-4_4
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DOI: https://doi.org/10.1007/978-3-540-77459-4_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77458-7
Online ISBN: 978-3-540-77459-4
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