Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous finger

Abstract This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness finger mechanism to improve safety in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration cost, accuracy, manufacturing, application. Based on concept mechanical passive compliance, which is widely implemented robots for interactions, dedicated improving robustness. The not only achieves compliance against physical impacts, but also implements actuator principle compact without adding supererogatory actuators. It adjustability according biologically inspired variation discarding some mobilities adjust stiffness. design its adjusting methods are elaborated. characteristics joint actuation unit analyzed. Experimental results identification impact tests under different presets provided verify validity model. Fingers have been experimentally proven be robust impacts. Moreover, experimental part verifies that fingers good power, grasping, manipulation performance.