Adaptive Underactuated Finger With Active Rolling Surface

This letter presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at same time, provides active rolling motion along its central axis while keeping configuration (see Fig. 1). The design based on planar chain overlapping spherical phalanxes are tendon-driven. has surface made external hollow universal joints can rotate via internal structure. outer second Degree Freedom (DoF). two actuators, driving bending and/or motion, be used independently. A set experiments have been included validate measure performance for grasping actions. proposed built different number sizes. these fingers arranged palm structure resulting in multi-finger robotic grasper applications require adaptation in-hand manipulation capabilities such as pHRI.