Characterization of finger joints with underactuated modular structure

Abstract. The characterization of flexible joints robotic underactuated fingers allows the investigation finger flexion trajectories using a tendon-driven actuation. In this paper, TPU 3D printed used in fingers, is experimentally and numerically performed. Since mechanical properties materials are uncertain, research helps to define characteristics terms stiffness. role stiffness for control fingers’ fundamental obtained results very useful improving method track certain predefined trajectory. Experimental theoretical evaluate as function infill density percentage material.