—This paper presents a new method to study the capability of an underactuated hand to produce form-closed grasps. First, the stability behaviours of different underactuated paral...
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...
This paper studies the force capability of a particular class of underactuated fingers. Force capability is defined as the ability to create an external wrench onto a fixed obj...
— This paper proposes a control scheme dedicated to underactuated fingers with the intention of maximizing the capabilities of the latter using tactile and position information ...
—This paper presents a new pneumatically driven underactuated hand with two fingers and 3 phalanxes per finger. Two evidences have led the design of this hand. Firstly, the use o...