SOURCE-LINKED INTELLIGENCE

Quasi-static analysis of passive stability in a novel underactuated multi-finger hand

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predicting the stable equilibrium pose of the grasped object remains a significant challenge. This paper introduces a quasi-static analytical approach to assess passive stability in underactuated multi-finger hands. A novel three-finger hand architecture integrating a differential spring-loaded slider mechanism is introduced, enabling versatile and adaptive grasping. The study focuses on how the differential mechanism influences the overall grasp behavior and analyzes the effect of object s

Read original source ↗ Open in workspace

recordType

paper

region

Global