Adaptive under-actuated anthropomorphic hand: ISR-SoftHand

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Abstract

ISR-Softhand is a novel under-actuated self contained anthropomorphic robotic hand which takes advantage of elastic joints and soft pads. The integrated compliance in the hand's joint allows for a very good adaptability to a wide range of objects. It can achieve the top ten grasps with highest frequency of usage by humans, with only three actuators.

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Tavakoli et al. (Mon,) studied this question.

synapsesocial.com/papers/6a128cb3f7bd4f5c7da683ac https://doi.org/https://doi.org/10.1109/iros.2014.6942773

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Institutions

University of Coimbra

Institute for Systems Engineering and Computers

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