Experiments in Underactuated In-Hand Manipulation

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)


This paper shows conceptually and experimentally that underactuated robotic hands can stably grasp and manipulate objects placed between the fingertips. Small objects grasped between a planar pair of two-link underactuated fingers having one tendon each are shown to be manipulable over a range of in-hand configurations that can be predicted analytically. The manifold of predicted stable configurations is found by seeking the minimum energy configuration of the elastic fingers under constraints from the actuator tendons and the contact constraints with the grasped objects. Experimental results are shown from HANDLE, a novel underactuated hand capable of a variety of dexterous in-hand tasks.


Small Object Contact Constraint Robot Hand Robotic Hand Grasp Object 
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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  1. 1.Department of Mechanical Engineering and Material ScienceYale UniversityNew HavenUSA

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