Underactuation with Link Mechanisms

  • Clément GosselinEmail author
Reference work entry


This section discusses the use of mechanical linkages in the design of underactuated robotic hands. First, a literature review is provided that introduces the main contributions in this area. Then, a static analysis is briefly described, and a model that can be used for analysis and synthesis of linkage-based underactuated fingers is developed. Two examples of underactuated fingers with, respectively, two and three phalanges are then introduced in order to demonstrate the application of the model and to raise the main design issues. Examples of underactuated hands based on these underactuated fingers are then described, and some existing prototypes are presented.


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© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringUniversité LavalQuébecCanada

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