Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism

In this paper we have approached the problem for improving an anthropomorphic finger mechanism for adapting its configuration to the shape of a grasped object, even with more suitable contacts. Solutions with underactuated mechanisms and flexible mechanisms are considered by looking at design problems and feasible mechanical designs. Previous experiences and expertise from Cassino group and Beijing BUAA group have been integrated in a unique frame for design purposes of a new low-cost easy-operation finger mechanism with object-adaptability characteristics