A New Mechanical Hand: Theoretical Studies and First Prototyping

摘要: A mechanical underactuated hand is proposed. The can be used as robot grasping end-effector and, mainly, human prosthesis. peculiarity of the mechanism permits to move five fingers with an only actuator, so that each tendons will phalanxes adjusting themselves self-adapting their configuration surface shape grasped object. tendon are un-extendible, finger grasp object ever same force, independently shape. force controlled just by actuator force. Preliminary kinematic and dynamic studies presented together early tests on a prototype.