Underactuated Robotic Hands
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Underactuated robotics makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.
“Underactuated robotics (Spong et al., 1998; Reyhanoglu et al., 1999; Birglen et al., 2008) makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.”
From Lessons for Robotics From the Control Architecture of the Octopus (2022) · cites this paper as Birglen et al., 2008
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Shintake, J., Cacucciolo, V., Floreano, D., & Shea, H. R. (2018) · Advanced Materials · doi:10.1002/adma.201707035 · Cited by 1,981 · see citing works
Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review
Belter, J. T., Segil, J. L., Dollar, A. M., & Weir, R. F. F. (2013) · The Journal of Rehabilitation Research and Development · doi:10.1682/jrrd.2011.10.0188 · Cited by 721 · see citing works
A Positive Pressure Universal Gripper Based on the Jamming of Granular Material
Amend, J. R., Brown, E., Rodenberg, N., Jaeger, H. M., & Lipson, H. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2171093 · Cited by 708 · see citing works
Adaptive synergies for the design and control of the Pisa/IIT SoftHand
Catalano, M. G., Grioli, G., Farnioli, E., Serio, A., Piazza, C., & Bicchi, A. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913518998 · Cited by 673 · see citing works
“This approach, authoritatively described in [Birglen et al., 2008], is referred to as underactuation and has produced a number of interesting hands since the earliest times of robotics.”
BackgroundMethodA compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598 · see citing works
“Attempts at obtaining stable fingertip grasps with underactuated fingers have typically involved the addition of special-purpose mechanisms for stabilizing the fingertips, such as active locking mechanisms to reduce underactuated degrees of freedom as in the SRI Hand (Aukes et al., 2012) or in Begoc et al. (2007), spe…”
BackgroundMethodInfluentialPiazza, C., Grioli, G., Catalano, M. G., & Bicchi, A. (2019) · Annual Review of Control Robotics and Autonomous Systems · doi:10.1146/annurev-control-060117-105003 · Cited by 340 · see citing works
A modular, open-source 3D printed underactuated hand
Ma, R. R., Odhner, L. U., & Dollar, A. M. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630954 · Cited by 256 · see citing works
“Underactuated hands [1] [2] have been shown to improve the generality of simple grippers by adaptively conforming to the surface of objects without the explicit need for sensors or complicated feedback systems.”
BackgroundGrasp Frequency and Usage in Daily Household and Machine Shop Tasks
Bullock, I. M., Zheng, J. Z., Rosa, S. D. L., et al. (2013) · IEEE Transactions on Haptics · doi:10.1109/toh.2013.6 · Cited by 253 · see citing works
“Previous grasp studies have primarily focused on the hand posture used for preselected objects, as opposed to recording unstructured human manipulation behaviors.”
BackgroundToward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2
Santina, C. D., Piazza, C., Grioli, G., Catalano, M. G., & Bicchi, A. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2830407 · Cited by 226 · see citing works
Castellini, C., Artemiadis, P., Wininger, M., Ajoudani, A., Alimusaj, M., Bicchi, A., Barbara Caputo, B., Craelius, W., Dosen, S. S., Englehart, K. B., et al. (2014) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2014.00022 · Cited by 221 · see citing works
“This design strategy was combined with principles from under-actuation (Birglen et al., 2008) to enable a soft robotics approach encode the movement pattern of the first PCA synergy.”
BackgroundMethodA statistical review of industrial robotic grippers
Birglen, L., & Schlicht, T. (2017) · Robotics and Computer-Integrated Manufacturing · doi:10.1016/j.rcim.2017.05.007 · Cited by 205 · see citing works
Self-citationMason, M. T. (2018) · Annual Review of Control Robotics and Autonomous Systems · doi:10.1146/annurev-control-060117-104848 · Cited by 183 · see citing works
Palli, G., Melchiorri, C., Vassura, G., Scarcia, U., Moriello, L., Berselli, G., Cavallo, A., Maria, G. D., Natale, C., Pirozzi, S., et al. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913519897 · Cited by 182 · see citing works
“To solve the problem of complexity, different prototypes of underactuated robotic hands have also been developed (Birglen and Gosselin, 2003; Birglen et al., 2008; Odhner and Dollar, 2011).”
BackgroundThe Ocean One hands: An adaptive design for robust marine manipulation
Stuart, H. S., Wang, S., Khatib, O., et al. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364917694723 · Cited by 171 · see citing works
Design and testing of a selectively compliant underactuated hand
Aukes, D. M., Heyneman, B., Ulmen, J., et al. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913518997 · Cited by 167 · see citing works
“Underactuated hands span a spectrum of conceptual approaches (Birglen et al., 2008).”
BackgroundSpiers, A. J., Liarokapis, M. V., Çallı, B., & Dollar, A. M. (2016) · IEEE Transactions on Haptics · doi:10.1109/toh.2016.2521378 · Cited by 162 · see citing works
“Actual finger kinematics result from finger and transmission dynamics, which are modulated during different stages of an adaptive grasp by interaction with unknown objects [20].”
BackgroundAn investigation of grasp type and frequency in daily household and machine shop tasks
Zheng, J. Z., Rosa, S. D. L., & Dollar, A. M. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5980366 · Cited by 160 · see citing works
Design and Implementation of an Anthropomorphic Hand for Replicating Human Grasping Functions
Xiong, C., Chen, W., Sun, B.-Y., Liu, M.-J., Yue, S., & Chen, W. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2558193 · Cited by 159 · see citing works
Kashef, S. R., Amini, S., & Akbarzadeh, A. (2019) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2019.103677 · Cited by 161 · see citing works
The Velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps
Ciocarlie, M., Hicks, F. M., Holmberg, R., et al. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913519148 · Cited by 142 · see citing works
Hussain, I., Salvietti, G., Spagnoletti, G., & Prattichizzo, D. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2530793 · Cited by 134 · see citing works
“In Section IV the results of the tests executed by chronic stoke patients are reported, while in Section V conclusion and future work are outlined.”
BackgroundExploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand
Ajoudani, A., Godfrey, S. B., Bianchi, M., Catalano, M. G., Grioli, G., Tsagarakis, N. G., & Bicchi, A. (2014) · IEEE Transactions on Haptics · doi:10.1109/toh.2014.2309142 · Cited by 128 · see citing works
“To manage weight, cost, and control complexity of the final device, underactuation [25], whereby fewer actuators are included than DOFs, was used in the design of the hand.”
MethodAnalysis, Classification, and Design of Tendon-Driven Mechanisms
Ozawa, R., Kobayashi, H., & Hashirii, K. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2287976 · Cited by 128 · see citing works
“Parallel linkage mechanisms with minimal actuation have been widely used to develop underactuated planar mechanisms and have been analyzed to optimize their isotropic torque distribution and grasping stability [8].”
BackgroundStiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis
Firouzeh, A., Salerno, M., & Paik, J. K. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2692266 · Cited by 126 · see citing works
“The need for lighter robots with simpler actuation has led to an alternate approach of using underactuated mechanisms to actuate many DoFs using a single source of actuation [2], [3].”
BackgroundGrasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point
Ozawa, R., & Tahara, K. (2017) · Advanced Robotics · doi:10.1080/01691864.2017.1365011 · Cited by 118 · see citing works
Modeling and analysis of soft robotic fingers using the fin ray effect
Shan, X., & Birglen, L. (2020) · The International Journal of Robotics Research · doi:10.1177/0278364920913926 · Cited by 117 · see citing works
“(2014), Eizicovits et al. (2016), but also medical apparatus and cyber-physical systems, see Kölle and Schwarz (2016) and Fischinger et al. (2016) for examples. In Kim et al. (2017), the FinGripper of Festo is categorized as a force distributing compliant structure, along with the structures based on similar basic pri…”
BackgroundMethodInfluentialSelf-citationAdaptive synergies: An approach to the design of under-actuated robotic hands
Grioli, G., Catalano, M. G., Silvestro, E., Tono, S., & Bicchi, A. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385881 · Cited by 113 · see citing works
“This, over the years, led to the design of a large number of hands and adaptive grippers (for a complete review refer to [9]).”
BackgroundPrattichizzo, D., & Trinkle, J. C. (2016) · Springer handbooks · doi:10.1007/978-3-319-32552-1_38 · Cited by 113 · see citing works
Kontoudis, G. P., Liarokapis, M. V., Zisimatos, A. G., Mavrogiannis, C., & Kyriakopoulos, K. J. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354209 · Cited by 111 · see citing works
“An overview of various designs proposed for underactuated robot hands, can be found in [10].”
BackgroundOpen-Loop Precision Grasping With Underactuated Hands Inspired by a Human Manipulation Strategy
Odhner, L. U., R., R., & Dollar, A. M. (2013) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2013.2240298 · Cited by 110 · see citing works
“A single tendon is attached to the distal link, so that the motion of the two links is differentially coupled together, in a fashion similar to the links of Hirose’s soft gripper [1].”
The ability of underactuated hands to grasp and hold objects
Kragten, G. A., & Herder, J. L. (2009) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2009.10.002 · Cited by 104 · see citing works
On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies
Prattichizzo, D., Malvezzi, M., Gabiccini, M., et al. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2273849 · Cited by 99 · see citing works
“This disadvantage could be overtaken if robotic hands were actuated and controlled by a reduced number of inputs, thus resulting more efficient, simpler and reliable than their fully actuated alternatives, as shown in [4], [6], [9].”
Santina, C. D., Arapi, V., Averta, G., Damiani, F., Fiore, G., Settimi, A., Catalano, M. G., Bacciu, D., Bicchi, A., & Bianchi, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2896485 · Cited by 92 · see citing works
“To address these limitations, in soft artificial hands part of the control intelligence has been directly embedded in their mechanism, through the purposeful introduction of elastic elements and underactuation patterns [2], [3].”
BackgroundSynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands
Malvezzi, M., Gioioso, G., Salvietti, G., et al. (2015) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2015.2408772 · Cited by 93 · see citing works
“In this case, we assume that each finger is actuated according to an articulated mechanism schematically shown in Figure 8, inspired by [42].”
MethodForce Analysis of Connected Differential Mechanisms: Application to Grasping
Birglen, L., & Gosselin, C. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906068942 · Cited by 91 · see citing works
“(15) is not included in this paper due to the lack of space and can be found in Birglen et al. (2007).”
BackgroundInfluentialSelf-citationAssessing assumptions in kinematic hand models: A review
Bullock, I. M., Borràs, J., & Dollar, A. M. (2012) · 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob.2012.6290879 · Cited by 90 · see citing works
Stable, open-loop precision manipulation with underactuated hands
Odhner, L. U., & Dollar, A. M. (2015) · The International Journal of Robotics Research · doi:10.1177/0278364914558494 · Cited by 85 · see citing works
“One strategy for limiting the amount of data required to successfully complete tasks of this kind is to simplify the problem using passive mechanisms.”
BackgroundInfluentialJoint coupling design of underactuated hands for unstructured environments
Dollar, A. M., & Howe, R. D. (2011) · The International Journal of Robotics Research · doi:10.1177/0278364911401441 · Cited by 84 · see citing works
“See Dollar and Howe (2006) and Birglen et al. (2008) for extensive surveys of underactuated hands.”
BackgroundHussain, I., Spagnoletti, G., Salvietti, G., & Prattichizzo, D. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364917712433 · Cited by 83 · see citing works
“In addition to this, the actuation system of the proposed devices resembles that of underactuated robotic hands (Birglen et al., 2008).”
Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers
Hawkes, E. W., Jiang, H., Christensen, D. L., Han, A. K., & Cutkosky, M. R. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2776312 · Cited by 83 · see citing works
“Extensive reviews are provided in [8], [9].”
Adaptive under-actuated anthropomorphic hand: ISR-SoftHand
Tavakoli, M., & de Almeida, A. T. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942773 · Cited by 79 · see citing works
Velvet fingers: A dexterous gripper with active surfaces
Tincani, V., Catalano, M. G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., & Bicchi, A. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385939 · Cited by 77 · see citing works
An Adaptive Three-Fingered Prismatic Gripper With Passive Rotational Joints
Backus, S. B., & Dollar, A. M. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2516506 · Cited by 77 · see citing works
A Review on the Control of Second Order Underactuated Mechanical Systems
Krafes, S., Chalh, Z., & Saka, A. (2018) · Complexity · doi:10.1155/2018/9573514 · Cited by 74 · see citing works
Development of a new type of passively adaptive compliant gripper
Petković, D., Pavlović, N. D., Shamshirband, S., et al. (2013) · Industrial Robot the international journal of robotics research and application · doi:10.1108/ir-12-2012-452 · Cited by 74 · see citing works
“The strategy for reducing the number of actuators while keeping the hand capability to adapt its shape to the grasped object (to increase the number of contact points) is referred to as underactuation (Birglen et al., 2008; Doria and Birglen, 2009).”
BackgroundThe JamHand: Dexterous Manipulation with Minimal Actuation
Amend, J., & Lipson, H. (2017) · Soft Robotics · doi:10.1089/soro.2016.0037 · Cited by 74 · see citing works
“25 In-deed, several recent underactuated hands have had success grasping a wide variety of objects with four DOF or fewer, 26–29 but relatively little progress has been made in the area of dexterous manipulation.”
The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
Tavakoli, M., Batista, R., & Sgrigna, L. (2015) · Actuators · doi:10.3390/act5010001 · Cited by 73 · see citing works
“Anthropomorphic hands, which have been developed so far for industrial and prosthetic purposes can be roughly categorized as highly dexterous hands with many actuators [1–3] and minimally actuated hands (see for instance [4,5]).”
BackgroundAn under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes
Firouzeh, A., & Paik, J. K. (2017) · Smart Materials and Structures · doi:10.1088/1361-665x/aa67fd · Cited by 71 · see citing works
Selectively compliant underactuated hand for mobile manipulation
Aukes, D. M., Kim, S., Garcia, P., et al. (2012) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2012.6224738 · Cited by 70 · see citing works
“Work has also addressed transmission design and analysis [4][5] and methods to allow some manipulation in an underactuated compliant design [6].”
Background3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands
Zhang, N., Ge, L., Xu, H., Zhu, X., & Gu, G. (2020) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2020.112090 · Cited by 69 · see citing works
Development of a tendon-driven robotic finger for an anthropomorphic robotic hand
Shirafuji, S., Ikemoto, S., & Hosoda, K. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913518357 · Cited by 68 · see citing works
“Branching tendons have been studied for underactuated tendon-driven mechanisms (Birglen et al., 2008), and Sawada and Ozawa (2012) proposed a control method for them.”
BackgroundCapacitive Sensing for a Gripper With Gecko-Inspired Adhesive Film
Hashizume, J., Huh, T. M., Suresh, S. A., & Cutkosky, M. R. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2893154 · Cited by 66 · see citing works
Picking, grasping, or scooping small objects lying on flat surfaces: A design approach
Babin, V., & Gosselin, C. (2018) · The International Journal of Robotics Research · doi:10.1177/0278364918802346 · Cited by 67 · see citing works
“Regardless of the method employed, an important distinction should be made between studies that simplify the problem by assuming that the object is floating in space (Birglen et al., 2007; Miller et al., 2003) (hence, all faces are attainable) and those that acknowledge the environment of the object in the form of oth…”
MethodSelf-citationA highly-underactuated robotic hand with force and joint angle sensors
Wang, L., DelPreto, J., Bhattacharyya, S., et al. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6095147 · Cited by 66 · see citing works
Underactuated Finger Mechanism Using Contractible Slider-Cranks and Stackable Four-Bar Linkages
Yoon, D., & Choi, Y. (2017) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2017.2723718 · Cited by 66 · see citing works
An underactuated hand for efficient finger-gaiting-based dexterous manipulation
Ma, R. R., & Dollar, A. M. (2014) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2014.7090666 · Cited by 65 · see citing works
“Their performance is well characterized in literature [22] [23], and their design parameters in this hand are shown in Fig.”
BackgroundStable Precision Grasps by Underactuated Grippers
Kragten, G. A., Baril, M., Gosselin, C., et al. (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2163432 · Cited by 64 · see citing works
“Numerous examples in the literature show that this principle can lead to adaptive hands that are relatively cheap, lightweight, and easy to control compared with fully actuated hands, e.g., [1]–[3].”
BackgroundSelf-citationOn motion and force controllability of grasping hands with postural synergies
Pratichizzo, D., Malvezzi, M., & Bicchi, A. (2010) · doi:10.15607/rss.2010.vi.007 · Cited by 63 · see citing works
“This disadvantage could be overtaken if the robotic hands were actuated and controlled by a reduced number of inputs, thus resulting more efficient, simpler and reliable than their fully actuated alternatives as shown in [3, 4].”
MethodKinova Modular Robot Arms for Service Robotics Applications
Campeau‐Lecours, A., Lamontagne, H., Latour, S., Fauteux, P., Maheu, V., Boucher, F., Deguire, C., & L'Ecuyer, L.-J. C. (2017) · International Journal of Robotics Applications and Technologies · doi:10.4018/ijrat.2017070104 · Cited by 66 · see citing works
“Underactuated grippers (Birglen et al., 2008), with one motor per finger, where thus designed to simplify the controller, to reduce costs and to automatically adapt to the shape of different objects.”
BackgroundA New Dexterous Hand Based on Bio-Inspired Finger Design for Inside-Hand Manipulation
Mnyusiwalla, H., Vulliez, P., Gazeau, J.-P., & Zeghloul, S. (2015) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2015.2468678 · Cited by 62 · see citing works
Liu, C.-H., Huang, G.-F., Chiu, C.-H., & Pai, T.-Y. (2017) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-017-0671-x · Cited by 62 · see citing works
Davidson, J. R., Bhusal, S., Mo, C., Karkee, M., & Zhang, Q. (2020) · Global Journal of Agricultural and Allied Sciences · doi:10.35251/gjaas.2020.004 · Cited by 60 · see citing works
Mechatronic design of an integrated robotic hand
Quigley, M., Salisbury, C., Ng, A. Y., et al. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913515032 · Cited by 61 · see citing works
“One branch of research has pursued minimalistic, underactuated designs (Birglen et al., 2000) which seek to facilitate grasping and relatively simple manipula-”
BackgroundData-driven optimization for underactuated robotic hands
Ciocarlie, M., & Allen, P. (2010) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2010.5509793 · Cited by 61 · see citing works
“Gosselin et al. [5] also proposed a tendon-driven design for a robotic hand with 15 degrees of freedom and a single actuator.”
BackgroundSmit, G., Plettenburg, D. H., & van der Helm, F. C. T. (2014) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2014.2342158 · Cited by 62 · see citing works
Belter, J. T., & Dollar, A. M. (2013) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2013.6650441 · Cited by 60 · see citing works
Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum
Moreno–Valenzuela, J., Aguilar-Avelar, C., Puga-Guzḿan, S., et al. (2016) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2015.2509863 · Cited by 60 · see citing works
M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper
Ma, R. R., Spiers, A. J., & Dollar, A. M. (2015) · Mechanisms and machine science · doi:10.1007/978-3-319-23327-7_68 · Cited by 60 · see citing works
“The behavior of underactuated fingers is a well-studied problem [20,21], and”
BackgroundOpen-source, affordable, modular, light-weight, underactuated robot hands
Zisimatos, A. G., Liarokapis, M. V., Mavrogiannis, C., et al. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6943007 · Cited by 59 · see citing works
“presented in [4].”
Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+
Santina, C. D., Grioli, G., Catalano, M. G., Brando, A., & Bicchi, A. (2015) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2015.7363595 · Cited by 59 · see citing works
Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking
Salvietti, G., Hussain, I., Malvezzi, M., et al. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2718099 · Cited by 58 · see citing works
A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching
McLaren, A., Fitzgerald, Z., Gao, G., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968076 · Cited by 56 · see citing works
Design of hands for aerial manipulation: Actuator number and routing for grasping and perching
Backus, S. B., Odhner, L. U., & Dollar, A. M. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942537 · Cited by 55 · see citing works
“The relationship between the tendon and contact forces can be expressed as an equality constraint in terms of the Jacobian and Transmission matrices as follows[14]:”
BackgroundBabin, V., St-Onge, D., & Gosselin, C. (2018) · Robotics and Computer-Integrated Manufacturing · doi:10.1016/j.rcim.2018.06.002 · Cited by 55 · see citing works
Self-citationAn under-actuated robotic hand for multiple grasps
Mitsui, K., Ozawa, R., & Kou, T. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6697149 · Cited by 54 · see citing works
“The other is under-actuated robotic hands that use as few actuators as possible to decrease the size and weight of hands [7], [8], [9].”
SpinyHand: Contact Load Sharing for a Human-Scale Climbing Robot
Wang, S., Jiang, H., Huh, T. M., et al. (2019) · Journal of Mechanisms and Robotics · doi:10.1115/1.4043023 · Cited by 54 · see citing works
Sun, B.-Y., Gong, X., Liang, J., Chen, W., Xie, Z.-L., Liu, C., & Xiong, C. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2021.3132532 · Cited by 53 · see citing works
Bioinspiration and Biomimetic Art in Robotic Grippers
Nguyen, V. P., Dhyan, S. B., Mai, V., Han, B. S., & Chow, W. T. (2023) · Micromachines · doi:10.3390/mi14091772 · Cited by 54 · see citing works
Mechanisms for Robotic Grasping and Manipulation
Babin, V., & Gosselin, C. (2020) · Annual Review of Control Robotics and Autonomous Systems · doi:10.1146/annurev-control-061520-010405 · Cited by 55 · see citing works
Self-citationSynthesis of Differentially Driven Planar Cable Parallel Manipulators
Khakpour, H., Birglen, L., & Tahan, A. S. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2295891 · Cited by 52 · see citing works
“Thus, considering the resultant forces of the differentials, the MP is fully constrained if and only if the twist vector reciprocal to the space of all constraint wrench vectors is zero-dimensional.”
BackgroundSelf-citationThe Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand
Tian, L., Magnenat‐Thalmann, N., Thalmann, D., & Zheng, J. (2017) · Frontiers in Robotics and AI · doi:10.3389/frobt.2017.00065 · Cited by 51 · see citing works
Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons
Ozawa, R., Hashirii, K., Yoshimura, Y., et al. (2013) · Autonomous Robots · doi:10.1007/s10514-013-9362-z · Cited by 51 · see citing works
“Both CS-TDMs and U-TDMs are used for the design of under-actuated robotic hand to adaptively grasp an object with palm (Hirose and Umetani 1978; Dechev et al. 2001) and are frequently treated without distinction (Birglen et al. 2008).”
BackgroundMethodA synergy-driven approach to a myoelectric hand
Godfrey, S. B., Ajoudani, A., Catalano, M. G., Grioli, G., & Bicchi, A. (2013) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2013.6650377 · Cited by 51 · see citing works
“Following completion of testing, subjects were asked to answer a short questionnaire to rate the ease of use of the device and control interface.”
MethodMoreno-SanJuan, V., Cisnal, A., Fraile, J. C., et al. (2021) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2021.103828 · Cited by 50 · see citing works
Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation
Pastor, F., Gandarias, J. M., García-Cerezo, A. J., & Gómez-de-Gabriel, J. M. (2019) · Sensors · doi:10.3390/s19245356 · Cited by 49 · see citing works
“This way, a kinetostatic model of the forces can be derived in Equation (1) as described in [55]: Although the actual Cartesian forces could be computed, each object with a different shape should require feedback control to apply the desired grasping forces.”
MethodA Linkage-Driven Underactuated Robotic Hand for Adaptive Grasping and In-Hand Manipulation
Li, G., Liang, X., Gao, Y., et al. (2023) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2023.3273721 · Cited by 48 · see citing works
“Birglen and Gosselin [42], [43] proposed a linkage-driven underactuated robotic hand based on a multi-bar mechanism, but this hand can not perform the a/a movement.”
BackgroundUnderactuated Adaptive Gripper Using Flexural Buckling
Jung, G.-P., Koh, J., & Cho, K. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2273842 · Cited by 48 · see citing works
Finding small, versatile sets of human grasps to span common objects
Bullock, I. M., Feix, T., & Dollar, A. M. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630705 · Cited by 47 · see citing works
“The results show medium wrap and lateral pinch are both important, versatile grasps for basic object handling.”
BackgroundExtension of the Form-Closure Property to Underactuated Hands
Krut, S., Bégoc, V., Dombre, E., et al. (2010) · IEEE Transactions on Robotics · doi:10.1109/tro.2010.2060830 · Cited by 47 · see citing works
“A mechanism is said to be underactuated, when it has fewer actuators than degrees of freedom [4].”
BackgroundYao, S., Ceccarelli, M., Carbone, G., et al. (2018) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2018.06.019 · Cited by 45 · see citing works
Ma, R. R., & Dollar, A. M. (2013) · Journal of Mechanisms and Robotics · doi:10.1115/1.4025620 · Cited by 45 · see citing works
“Raymond R. Ma Aaron M. Dollar Yale University New Haven, CT 06520 Linkage-Based Analysis and Optimization of an Underactuated Planar Manipulator for In-Hand Manipulation This paper investigates the in-hand manipulation capabilities of a compliant, underactuated planar robotic hand by treating the system as a simple, s…”
MethodProposal of a shape adaptive gripper for robotic assembly tasks
Harada, K., Nagata, K., Rojas, J., et al. (2016) · Advanced Robotics · doi:10.1080/01691864.2016.1209431 · Cited by 45 · see citing works
“There have been a lot of works on underactuated hands in which the number of actuators is less than the number of DOF as summarized in [4].”
BackgroundUnderactuated anthropomorphic hands: Actuation strategies for a better functionality
Tavakoli, M., Enes, B., Santos, J. C., et al. (2015) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2015.08.011 · Cited by 44 · see citing works
Load-Sharing in Soft and Spiny Paws for a Large Climbing Robot
Ruotolo, W., Roig, F. S., & Cutkosky, M. R. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2897002 · Cited by 42 · see citing works
Kinetic and dimensional optimization for a tendon-driven gripper
Ciocarlie, M., Hicks, F. M., & Stanford, S. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630956 · Cited by 43 · see citing works
“Passive transition between fingertip and enveloping grasps can also be seen in the highly effective MARS hand [1], which later evolved into the SARAH family of hands [2], both of which use four-bar linkages for actuation.”
BackgroundA planar geometric design approach for a large grasp range in underactuated hands
Kragten, G. A., van der Helm, F. C. T., & Herder, J. L. (2011) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2011.03.004 · Cited by 43 · see citing works
Toward an adaptive foot for natural walking
Piazza, C., Santina, C. D., Gasparri, G. M., et al. (2016) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2016.7803423 · Cited by 43 · see citing works
Design of an Underactuated Compliant Gripper for Surgery Using Nitinol
Doria, M., & Birglen, L. (2009) · Journal of Medical Devices · doi:10.1115/1.3089249 · Cited by 43 · see citing works
Self-citationTowards the design of a prosthetic underactuated hand
Laliberté, T., Baril, M., Guay, F., et al. (2010) · Mechanical sciences · doi:10.5194/ms-1-19-2010 · Cited by 42 · see citing works
“For a review of underactuated hands, see Birglen et al. (2008). In this paper, the ongoing design of a prosthetic underactuated hand is presented.”
BackgroundMethodInfluentialSelf-citationSynergy-Based Control of Underactuated Anthropomorphic Hands
Ficuciello, F. (2018) · IEEE Transactions on Industrial Informatics · doi:10.1109/tii.2018.2841043 · Cited by 43 · see citing works
“2841043 underactuated hands has been pointed out in [3] and involves studies on force distribution depending on the mechanical transmissions, design parameters and contact properties.”
Background
- Authors
- Birglen, L., Laliberté, T., & Gosselin, C.
- Venue
- Springer Tracts in Advanced Robotics
- Publisher
- Springer Berlin Heidelberg
- Published
- 2008
- ISSN
- 1610-742X (ISSN-L)
- 1610-7438
- OpenAlex
- W1881109849
- Cited by
- 572
- References
- 0
- Citations by year
- 2026: 10 · 2025: 26 · 2024: 22 · 2023: 27 · 2022: 30 · 2021: 31 · 2020: 49 · 2019: 54 · 2018: 50 · 2017: 42 · 2016: 43 · 2015: 35 · 2014: 43 · 2013: 41 · 2012: 22
- FWCI
- 5.97
- Type
- book
- Language
- en
- Open access
- closed
- Licence
- www.springer.com/tdm (tdm)
- Locations
- Springer tracts in advanced robotics (publishedVersion)
- Digital Access to Libraries (Université catholique de Louvain (UCL), l'Université de Namur (UNamur) and the Université Saint-Louis (USL-B)) (submittedVersion)
- PolyPublie (École Polytechnique de Montréal) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- underactuated robotic hand, robotic grasping, robotic manipulation, hand design, dexterous manipulation, unstructured environments, surgical robotics, space robotics, underwater robotics
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