Morphological Optimization of Prosthesis’ Finger for Precision Grasping

  • J. L. RamírezEmail author
  • A. Rubiano
  • N. Jouandeau
  • L. Gallimard
  • O. Polit
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 39)


In this paper, we present the morphological optimization of our tendon driven under-actuated robotic hand prosthesis’ finger, to improve precision grasping. The optimization process is performed with a black box optimizer that considers simultaneously kinematic and dynamic constraints. The kinematic is computed with the Denhavit-Hartenberg parameterization modified by Khalil and Kleinfinger and the dynamic is computed from the virtual displacements and the virtual works. All these constraints are considered as a fitness function to evaluate the best morphological configuration of the finger. This approach gives a way to introduce and improve soft and flexible considerations for the grasping robots such as hands and grippers. Theoretical and experimental results show that flexible links combined with morphological optimization, lead in more precise grasping. The results of the optimization, show us an important improvement related to size, torque and consequently energy consumption.


Morphological optimization Mechanisms prehension Precision grasping Soft robotic 



Through this acknowledgement, we express our sincere gratitude to the Université Paris Lumières UPL for the financial support through the project PROMAIN This work has been partly supported by Université Paris Lumières UPL and by a Short Term Scientific Mission funding from LEME-UPO-EA4416/LIASD-UP8-EA4383. We also acknowledge Colciencias—Colombia and the Universidad Militar Nueva Granada for the financial support of the Ph.D. students.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • J. L. Ramírez
    • 1
    Email author
  • A. Rubiano
    • 1
    • 3
  • N. Jouandeau
    • 2
  • L. Gallimard
    • 1
  • O. Polit
    • 1
  1. 1.LEME Université Paris Ouest Nanterre La DéfenseParisFrance
  2. 2.LIASD Université Paris 8ParisFrance
  3. 3.Universidad Militar Nueva GranadaBogotáColombia

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