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Title: Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers
Abstract In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.  more » « less
Award ID(s):
2024554
PAR ID:
10442744
Author(s) / Creator(s):
;
Date Published:
Journal Name:
Robotica
Volume:
41
Issue:
2
ISSN:
0263-5747
Page Range / eLocation ID:
587 to 608
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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