BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies
نویسندگان
چکیده
This letter introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator-driven, low-cost, 3D-printed, tendon-driven, underactuated robot hand that can be used to perform range of grasping tasks. Based on adaptive synergies Pisa/IIT SoftHand, we design new joint system and tendon routing facilitate inclusion both soft synergies, which helps us balance durability, affordability performance hand. The focus this work is design, simulation, tests SoftHand. novel phalanges are designed printed based linkages, gear pairs geometric restraint mechanisms, applied most tendon-driven robotic hands. We show successfully grasp lift various target objects adapt hold complex shapes, reflecting successful adoption synergies. intend open-source so it built cheaply home 3D-printer.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3187876