A Novel Coupled and Self-adaptive Under-actuated Grasping Mode and the COSA-DTS Hand

A novel category of humanoid robotic hands: COSA (Coupled and Self-Adaptive) hand is introduced in this paper. If a hand is called the COSA hand, which means that the fingers of the hand grasps objects with a special COSA grasping mode, which includes two processes, first is a coupled grasping process, then the second is a self-adaptive grasping process. The COSA grasping mode can take many advantages. A new COSA finger unit with double-tendon mechanism is designed based on the COSA function. The COSA finger is a new category of robotic finger which is different from conventional kinds of robotic fingers, such as coupled fingers or self-adaptive fingers. The shortages of traditional coupled fingers or self-adaptive fingers are avoided by the new COSA fingers. Based on the two joints finger, a three joints finger is designed and the COSA-DTS Hand with double-tendon-slider mechanism is designed based on it. In this paper, the core opinions about COSA fingers and COSA hands are presented, discussed and analyzed in detail via the force and motion simulations. The hand has 5 fingers, 15 joints and 6 motors. All fingers of the hand are COSA-DTS fingers. The hand is more similar to human hand in appearance and actions, able to more dexterously and stably grasp different objects than tradition coupled or self-adaptive under-actuated hands.