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- W2376155898 abstract "Most conventional dexterous hands have too many DOFs, large drive systems and complicated controls so they can not be installed in a humanoid robot arm. This paper introduces the mechanical characteristics of an underactuated humanoid robot hand (TH1 hand) with changeable grasping force. The TH1 hand has a mechanical finger with changeable grasping force for a more stable grip. The TH1 thumb is an underactuated mechanical finger which has more DOFs with fewer drivers. The driving motors and control circuits are embedded inside the hand. The TH1 appearance and size are similar to a human hand. The hand is of lighter weight, has fewer DOFs, and can be easily controlled. Tests showed that the TH1 hand mounted in a humanoid robot can move with many anthropopathic actions such as extending, making a fist, and stably grasping objects of different sizes and shapes with variable force levels. The changeable grasping force finger mechanism and the underactuated thumb mechanism can also be used in other force transmission systems such as gear transmissions." @default.
- W2376155898 created "2016-06-24" @default.
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- W2376155898 date "2003-01-01" @default.
- W2376155898 modified "2023-09-25" @default.
- W2376155898 title "Under-actuated humanoid robot hand with changeable grasping force" @default.
- W2376155898 hasPublicationYear "2003" @default.
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