A novel approach to mechanical design of under-actuated robot finger

Under-actuated mechanism is a mechanical system which the number of control inputs is smaller than the Degrees of Freedom (DOF). This mechanism has many advantages such as low cost, low energy consumption and lightweight. This paper present a novel approach to mechanical design of under-actuated robot finger with passive adaptive grasping. Three concepts of environment, mechanism and control of passive adaptive grasping are also focused in our approach. The mechanical design of proposed under-actuated robot finger is briefly described and experimental results in real environments are also given.