@inproceedings{0fef82c5e403405f806f5032dba9e672,
title = "Selectively compliant underactuated hand for mobile manipulation",
abstract = "The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques.",
author = "Daniel Aukes and Susan Kim and Pablo Garcia and Aaron Edsinger and Cutkosky, {Mark R.}",
year = "2012",
doi = "10.1109/ICRA.2012.6224738",
language = "English (US)",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2824--2829",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}