Answers are grounded in this paper and cite their sources.
The overall design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) for harvesting horticulture products is presented. Ca.U.M.Ha. shows an anthropomorphic design incorporating four underactuated finger mechanisms and a simplified contrasting thumb, which are all joined to a rigid palm. The pneumatic cylinders of the articulated fingers are operated in parallel in order to give an additional auto-adaptability on the object to grasp. An application of Ca.U.M.Ha. for grasping different shapes of apples is presented.
No takes yet. Share an insight, caveat, or question.
Figliolini et al. (2005) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: