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- W3039384585 abstract "Abstract Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the underactuated finger, has not well addressed when considering both the stability and adaptability. In this study, an adaptive anthropomorphic finger that adopted a novel nine-bar mechanism is proposed. This nine-bar mechanism is integrated through a coupled four-bar mechanism and an adaptive seven-bar mechanism. The developed finger based on the nine-bar mechanism is able to improve the grasp stability in the global workspace under an extremely small spring stiffness. A quantitative analysis of the grasp stability was carried out. Comparative experiments on the grasps using the finger with/without adaptability were also performed. The results validated that our finger has a good stability when grasping the objects of different sizes." @default.
- W3039384585 created "2020-07-10" @default.
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- W3039384585 date "2020-07-28" @default.
- W3039384585 modified "2023-10-13" @default.
- W3039384585 title "Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism" @default.
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- W3039384585 doi "https://doi.org/10.1115/1.4047730" @default.
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