COSA Finger: A Coupled and Self-Adaptive Under-actuated Unit for Humanoid Robotic Hand
نویسندگان
چکیده
Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on the COSA grasping mode. The new finger unit has the advantages of coupled finger and self-adaptive fingers. Using the COSA finger, a humanoid multi-fingered hand can be designed. The new hand will be 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.
منابع مشابه
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