文章基本信息

标题：A model for the grasping analysis of an underactuated finger driven by unextensible tendon
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作者：Vincenzo Niola ; Vincenzo Niola ; Cesare Rossi 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2016
卷号：76
页码：1-5
DOI：10.1051/matecconf/20167604044
语种：English
出版社：EDP Sciences
摘要：A grasping analysis is presented of an underactuated finger driven by unextensible tendon. The finger itself is one of those of a mechanical prosthesis that was principally conceived as human prosthesis. After a brief description of the whole system constituted by the mechanical hand, the model to predict the behavior of the finger during the grasping is presented; then some examples of grasping are presented. The model can be useful for both the under-actuated finger design and for the prediction of the capabilities of the whole hand.