JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms

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


This paper proposes a novel spring-tendon self-adaptive underactuated hand, called JLST hand, which can perform simultaneous multi-joint locking grasp. A JLST hand is designed with three JLST fingers and 6 degrees of freedom (DOFs). The JLST hand has more stable grasp ability and a larger grasping force than the normal spring-tendon robot hand, because the JLST hand has simultaneous multi-joint locking mechanisms. The JLST finger uses one motor to realize grasping objects, releasing objects and locking joints. The spring-tendon mechanism is based on the spring force to grasp objects and using the motor to pull the tendon to release the object. The JLST finger also uses one motor pulling the tendon to release the object and spring force to grasp objects, but the difference is JLST finger also uses the motor to lock multi-joints. Once the motor is turning forward, the finger releases the object; once the motor is turning backward, the motor releases the tendon so that the finger will grasp; the blocker is going to lock the joint since the motor keeps turning backward. The calculation and simulation results show that the JLST hand has the high stability of grasp and is more powerful than the normal spring-tendon hand.


Robot hand Underactuated finger Joint-locking Spring-tendon mechanism 



This Research was supported by National 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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