Jul 2026· Journal of Mechanisms and Robotics· Vol 18· 0 citations
Abstract
This paper presents a prototype of a novel three-finger underactuated robot hand with force sensing. It is an electrically-driven high-power gripper with a large grasping force, yet capable of handling both rigid and fragile objects of various shapes and sizes. Its grasp configuration is adaptable to the shape of the object, thanks to its specific linkage-driven power transmission system and the combination of actively and passively (spring-loaded) actuated joints. The hand has 10 degrees of freedom in total, actuated by 4 motors. The novelty of the hand design is reflected in the following aspects: (i) original design and prototype of a three-finger robot hand as a complex mechatronic device, (ii) force sensing based on a custom-designed force sensor integrated into soft fingertips, and (iii) bus communication system with cable-less signal transmission in robot fingers. Signal transmission is based on custom-designed slip ring technology integrated into finger joints, while the bus communication system provides a modular, reconfigurable sensory system.
Skin-level force detection in humanoid robotics is a demanding design problem benefitting from soft sensors that are compact, conform to curved surfaces, and sense multiaxis forces. Interactions with people and fragile objects make the ability to detect multiaxis force important for dexterous manipulation and safety. T...
In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with 11 degrees of freedom and 8 degrees of actuation. The design utilizes QDD actuation at the base of each finger, enabling high force transparency for dexterous, adaptiv...
Benjamin Davis, Chase Kidder, Hannah S. Stuart· 0 citations
Soft actuators are widely used in grasping tasks involving irregularly shaped and fragile objects due to their inherent compliance. However, most existing soft actuators lack shape-morphing capabilities, making it difficult to achieve optimal grasping performance when faced with different operational scenarios. Inspire...
Xuan-Hao Zhang, Jian-Tao Yao, Shuai Zhang et al.· IEEE Robotics and Automation...· 0 citations
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel...
Pneumatic soft grippers adapt to uncertain object geometry through compliant deformation, and their performance is governed by chamber geometry, material behavior, pneumatic routing, and pressure control. This study develops a modular soft-finger gripper and a common-pressure-control platform. A toothed, multi-chamber...
Liang Wang, Ye-Ming Zhang, Mao-Lin Cai et al.· Actuators· 0 citations
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