Journal
MECHANISM AND MACHINE THEORY
Volume 45, Issue 3, Pages 408-425Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2009.10.002
Keywords
Underactuation; Robotic hands; Performance; Grasping; Holding
Categories
Funding
- Dutch Ministry of Economic Affairs [BSIK03021]
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In order to calculate and measure the performance of underactuated hands to pick up and move various objects, two new performance metrics have been defined. These metrics quantify the capability to achieve stable grasp equilibrium of a range of freely moving objects (ability to grasp), and the capability to keep hold of the grasped objects while disturbing forces are applied (ability to hold). The calculations and measurements of these metrics are shown for cable-pulley driven hands. (C) 2009 Elsevier Ltd. All rights reserved.
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