PCSS Hand: An Underactuated Robotic Hand with a Novel Parallel-Coupled Switchable Self-adaptive Grasp

  • Shuang Song
  • Wenzeng ZhangEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9979)


This paper proposes a novel concept of underactuated grasping mode, called PCSS grasping mode. This mode has switchable hybrid grasping functions: parallel self-adaptive grasping (PASA) and coupled self-adaptive grasping (COSA), being able to grasp larger range of objects with different shapes and dimensions than traditional PASA and COSA hands. The PCSS grasping can execute different grasping modes: a parallel pinching (PA); a coupled hooking (CO); a self-adaptive encompassing (SA); parallel and self-adaptive hybrid grasping (PASA); coupled and self-adaptive hybrid grasping (COSA). A PCSS Hand is developed with three PCSS fingers and 6 degrees of freedom. Simulation analysis shows the high stability and the versatility of the PCSS Hand.


Robotic hand Underactuated finger Grasping mode Self-adaptive grasp Coupled grasp 



This paper was supported by the Natural Science Foundation of China (No. 51575302).


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringTsinghua UniversityBeijingChina

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