Preprint
Aug 2026
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under restoring-spring loading introduces configuration-dependent joint deviations. This paper presents H-PAC, a modular 6-actuator, 15-DoF robotic hand with a control-oriented modeling and implementation framework....
Teng-Fei Yan, Jiong-Xu Chen, Teng Wang et al.
· 0 citations