Title :
Adaptive under-actuated anthropomorphic hand: ISR-SoftHand
Author :
Tavakoli, Mahdi ; de Almeida, Anibal T.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Coimbra, Coimbra, Portugal
Abstract :
ISR-Softhand is a novel under-actuated self contained anthropomorphic robotic hand which takes advantage of elastic joints and soft pads. The integrated compliance in the hand´s joint allows for a very good adaptability to a wide range of objects. It can achieve the top ten grasps with highest frequency of usage by humans, with only three actuators.
Keywords :
actuators; anthropometry; grippers; humanoid robots; ISR-SoftHand; actuators; adaptive under-actuated anthropomorphic hand; elastic joints; soft pads; under-actuated self contained anthropomorphic robotic hand; Actuators; Grasping; Indexes; Joints; Prosthetics; Tendons; Thumb;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6942773
