@inproceedings{7e1a2f9af096431dbd28e7900429da4d,
title = "Varying spring preloads to select grasp strategies in an adaptive hand",
abstract = "We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.",
keywords = "kinematic design, parallel linkage, robotic hand, underactuation",
author = "Daniel Aukes and Barrett Heyneman and Vincent Duchaine and Cutkosky, {Mark R.}",
note = "Funding Information: ACKNOWLEDGMENTS The authors wish to express their sincere thanks to the Japan Maritime Safety Agency and the Hydrographic Office of Korea for kindly supplying the tidal data. Thanks are extended to Mr. M. Okada of the Japan Meteorological Agency for his advice, and to Mrs. Cynthia Jones for her kind correction of their English. This study was partially supported by the Grant-in-Aid for Scientific Research from the Ministry of Education, Science and Culture.; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",
year = "2011",
doi = "10.1109/IROS.2011.6048839",
language = "English (US)",
isbn = "9781612844541",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "1373--1379",
booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",
}