This paper presents a novel architecture of robotic hand designed for prosthesis purposes. The system, referred to as the ADAM'S Hand, draws from the properties of differential mechanisms that can be arranged in cascade via serial or parallel connections to achieve a high degree of underactuation. The proposed end-effector allows 15 degrees of freedom to be controlled by only 1 degree of actuation. In addition, ADAM'S Hand ensures self-adaptive and forceisotropic grasps. Special focus is given to the transmission ratios and gear dimensions of the system to mimic the behaviour of human hand in terms of kinematic performance and overall dimensions.
Analysis of a highly underactuated robotic hand / Zappatore, G. A.; Reina, G.; Messina, A.. - In: INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL. - ISSN 1590-8844. - 18:2(2017), pp. 17-24.
Analysis of a highly underactuated robotic hand
Reina G.
;
2017-01-01
Abstract
This paper presents a novel architecture of robotic hand designed for prosthesis purposes. The system, referred to as the ADAM'S Hand, draws from the properties of differential mechanisms that can be arranged in cascade via serial or parallel connections to achieve a high degree of underactuation. The proposed end-effector allows 15 degrees of freedom to be controlled by only 1 degree of actuation. In addition, ADAM'S Hand ensures self-adaptive and forceisotropic grasps. Special focus is given to the transmission ratios and gear dimensions of the system to mimic the behaviour of human hand in terms of kinematic performance and overall dimensions.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
