• DocumentCode
    137774
  • 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
  • fYear
    2014
  • fDate
    14-18 Sept. 2014
  • Firstpage
    1629
  • Lastpage
    1634
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
  • Conference_Location
    Chicago, IL
  • Type

    conf

  • DOI
    10.1109/IROS.2014.6942773
  • Filename
    6942773
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=137774