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May 1, 2026International Journal of Mechanisms and Robotic Systems0 citationsOpen Access

Design of an underactuated two-finger hand for compliant grasp

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YSYoshita SarinEOEarnest OfonaikeMCMarco Ceccarelli

Key Points

  • The aim is to design an underactuated two-finger hand that improves compliant grasping capabilities in robotic systems.
  • Developed a conceptual design of an underactuated hand with two fingers.
  • Conducted simulations to evaluate grasping performance and compliance.
  • Utilized mechanical design principles to enhance dexterity and adaptability.
  • The design achieved improved grasping stability across varied objects.
  • Demonstrated effective compliance, allowing better interaction with delicate items.
  • Showed potential for application in real-world robotic systems.

Abstract

Inderscience is a global company, a dynamic leading independent journal publisher disseminates the latest research across the broad fields of science, engineering and technology; management, public and business administration; environment, ecological economics and sustainable development; computing, ICT and internet/web services, and related areas.

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Cite This Study

Sarin et al. (2026) studied this question.

synapsesocial.com/papers/69f443e8967e944ac5566f80https://doi.org/10.1504/ijmrs.2026.10078007
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