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Underactuated Robotic Hands
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“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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Items 301–400 of 573
Soft actuation and sensing towards robot-assisted facial rehabilitation
Firouzeh, A., & Paik, J. K. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8202173 · Cited by 9
Employing IMU and ArUco Marker Based Tracking to Decode the Contact Forces Exerted by Adaptive Hands
Elangovan, N., Dwivedi, A., Gerez, L. F., Chang, C.-M., & Liarokapis, M. V. (2019) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids43949.2019.9035051 · Cited by 9
“Two main matrices are commonly used to determine the effects of joint configuration on force exertion capabilities [13].”
BackgroundForce analysis of minimal self-adaptive fingers using variations of four-bar linkages
Nassar, F., & Birglen, L. (2021) · Mechanical sciences · doi:10.5194/ms-12-1037-2021 · Cited by 8
Self-citationA novel framework for the analysis of underactuated fingers
Liu, S., Chen, C., & Angeles, J. (2023) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2023.105238 · Cited by 8
Concentric Rotation Pin Array Gripper for Universal Grasp
Mo, A. C., Fu, H. Y., Luo, C. P., et al. (2018) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm.2018.8610678 · Cited by 8
A Joint-Selective Robotic Gripper with Actuation Mode Switching
Hermann, K., Hostettler, R., Zimmermann, M. N., & Sureshbabu, A. V. (2019) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/coase.2019.8842987 · Cited by 9
“This research’s answer to this problem is the introduction of underactuation [17].”
BackgroundKinematic Synthesis and Design of the Robust Closed Loop Articulated Minimally actuated (CLAM) Hand
Robson, N. P., Ghosh, S., & Soh, G. S. (2019) · Robotica · doi:10.1017/s0263574719001723 · Cited by 8
Gerez, L. F., Gao, G., & Liarokapis, M. V. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967939 · Cited by 8
Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
Lee, C.-T., & Chang, J.-Y. J. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4055061 · Cited by 8
Combining underactuation with vacuum grasping for improved robotic grippers
Maggi, M., Mantriota, G., & Reina, G. (2024) · Mechatronics · doi:10.1016/j.mechatronics.2024.103211 · Cited by 10
Notice of Retraction: A survey on underactuated mechanisms
He, B., Zhen, L. W., & Feng, L. H. (2010) · International Conference on Advanced Computer Control · doi:10.1109/icacc.2010.5486858 · Cited by 8
“Finally, further research direction on underactuated mechanism is also discussed.”
BackgroundRetractedAdaptive Legged Robots Through Exactly Constrained and Non-Redundant Design
Kanner, O. Y., Rojas, N., Odhner, L. U., et al. (2017) · IEEE Access · doi:10.1109/access.2017.2704088 · Cited by 8
“design tools for reducing the number of actuators in a mechanism [53].”
BackgroundOn the Design of a Novel Underactuated Robotic Finger Prosthesis for Partial Hand Amputation
Jeong, G.-C., Kim, Y., Choi, W.-S., et al. (2019) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2019.8779553 · Cited by 8
Geometric optimization of a self-adaptive robotic leg
Fedorov, D., & Birglen, L. (2018) · Transactions of the Canadian Society for Mechanical Engineering · doi:10.1139/tcsme-2017-0010 · Cited by 8
“The proposed approach is directly inspired by the design of self-adaptive mechanisms in the field of underactuated robotic hands (Birglen et al., 2008; Birglen, 2009): a single input force is distributed to several output phalanges, the motions of which are triggered by contacts between the finger…”
Self-citationWelte, E., & Rayyes, R. (2025) · Frontiers in Robotics and AI · doi:10.3389/frobt.2025.1682437 · Cited by 11
“These hands have fewer actuators than joints, relying on passive mechanisms like springs or tendons to simplify control and adapt to different object shapes [9].”
Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot
Li, Z., Bégoc, V., Chriette, A., et al. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4054610 · Cited by 7
“The proposed robot can be described as a flying hand composed of a body structure, four self-adaptive fingers [16] and four quadrotors.”
Design and Development of an Adaptive Robotic Gripper
Ansary, S. I., Deb, S., & Deb, A. K. (2023) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-023-01948-6 · Cited by 7
“by means of linkages and tendon-pulley networks can be found in the literature [12].”
BackgroundPerformance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation
Boucher, J.-M., & Birglen, L. (2017) · Journal of Mechanisms and Robotics · doi:10.1115/1.4036220 · Cited by 7
Self-citationAl‐Darraji, I., Kılıç, A., & Kapucu, S. (2018) · Mechanical sciences · doi:10.5194/ms-9-277-2018 · Cited by 7
“Therefore, the action of the springs is negligible in the kineto-static analysis of tendon-driven mechanisms (Krut, 2005; Birglen et al., 2008; Dandash et al., 2011).”
BackgroundEspinosa-Garcia, F. J., Tapia-Herrera, R., Lugo‐González, E., & Arias‐Montiel, M. (2021) · Journal of the Brazilian Society of Mechanical Sciences and Engineering · doi:10.1007/s40430-021-03094-2 · Cited by 7
“The grip can be defined as the combination of actions that must be carried out to hold an object despite disturbances [1, 2].”
BackgroundThe Switchable Cable-Driven Mechanism to Control Multiple Cables Individually Using a Single Motor
Kim, Y., & Park, H. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3146587 · Cited by 7
Improved grasp robustness through variable transmission ratios in underactuated fingers
Spanjer, S. A. J., Balasubramanian, R., Herder, J. L., et al. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385884 · Cited by 7
“The projection of the equilibrium point on the distal link is often also called the equilibrium point [2].”
BackgroundA planetary gear based underactuated self-adaptive robotic finger
Quan, Q., Wang, Q., Deng, Z., et al. (2013) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2013.6739693 · Cited by 7
“So the underactuated hand with fewer actuators can use a simple control strategy to grip and adapt to the shape of objects automatically [2].”
BackgroundInfluentialA robotic finger mechanism for robust industrial applications
Dubey, V. N., & Crowder, R. (2011) · Industrial Robot the international journal of robotics research and application · doi:10.1108/01439911111132049 · Cited by 7
Adam’s Hand: An Underactuated Robotic End-Effector
Zappatore, G. A., Reina, G., & Messina, A. (2016) · Mechanisms and machine science · doi:10.1007/978-3-319-48375-7_26 · Cited by 7
Development and grasp analysis of a sensorized underactuated finger
Abdeetedal, M., & Kermani, M. R. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206538 · Cited by 7
“Tactile sensors can be used to acquire contact forces and positions [2], [6].”
BackgroundMethodInfluentialAssisted design of linkage‐driven adaptive soft fingers
Larouche, L., & Birglen, L. (2013) · Industrial Robot the international journal of robotics research and application · doi:10.1108/01439911311320840 · Cited by 7
Self-citationPerformance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators
Balasubramanian, R., & Dollar, A. M. (2012) · Lecture notes in electrical engineering · doi:10.1007/978-3-642-33971-4_1 · Cited by 7
Model-based Design and Simulation of a Soft Robotic Gripper for Fabric Material HandlingPreprint
Wang, B., & Urbanic, R. J. (2021) · doi:10.21203/rs.3.rs-225922/v1 · Cited by 7
“[26] have presented a comprehensive review on underactuated gripper hands.”
BackgroundBeaulieu, C.-A., Nguyen, T.-S., Laliberté, T., & Gosselin, C. (2023) · Journal of Mechanisms and Robotics · doi:10.1115/1.4063668 · Cited by 6
Self-citationA Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
Behroozi, F., Mersi, R., Benoist, A., Yong, R.-Y., Cardou, P., & Caro, S. (2024) · Journal of Mechanisms and Robotics · doi:10.1115/1.4065393 · Cited by 6
Magnetic actuation of ultra-compliant micro robotic mechanisms
Vogtmann, D., & Bergbreiter, S. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942652 · Cited by 6
“While embedding magnets in MEMS structures is not novel on its own, the primary contribution of this work is the inclusion of magnetic actuation with highly compliant micro robotic mechanisms.”
BackgroundExperimental Safety Analysis of R-Min, an Underactuated Parallel Robot
Jeanneau, G., Bégoc, V., & Briot, S. (2023) · Journal of Mechanisms and Robotics · doi:10.1115/1.4056765 · Cited by 6
Design and implementation of shape‐adaptive and multifunctional robotic gripper
Aqib, M., Imran, A., Khan, K., et al. (2023) · Journal of Field Robotics · doi:10.1002/rob.22251 · Cited by 6
“While in the latter, the number of degree of freedoms is greater than number of actuators which leads to shape adaptation while grasping without complex control algorithms (Birglen et al., 2007).”
BackgroundBTS Gripper: Compliant Linkage-Based Gripper Design for a Busing-Table Service Application
Shin, J., Kim, Y.-H., Won, J., et al. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3363187 · Cited by 6
Variation in compliance in two classes of two-link underactuated mechanisms
Balasubramanian, R., & Dollar, A. M. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5979660 · Cited by 6
“For a two-link mechanism, the contact Jacobian Jc can be computed as [2]”
BackgroundResultResearch and design of a multi-fingered hand made of hyperelastic material
Zhang, J., Zhang, X., & Li, Y. (2018) · Assembly Automation · doi:10.1108/aa-03-2017-042 · Cited by 6
On the Use of Magnets to Robustify the Motion Control of Soft Hands
Marullo, S., Salvietti, G., & Prattichizzo, D. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3205751 · Cited by 6
Finger Mechanisms for Robotic Hands
Ceccarelli, M. (2015) · Mechanisms and machine science · doi:10.1007/978-3-319-18126-4_1 · Cited by 6
A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers
Zappatore, G. A., Reina, G., & Messina, A. (2019) · Robotics · doi:10.3390/robotics8020026 · Cited by 6
Design of a prosthetic hand with remote actuation
Scott, K., & Gracia, A. P. (2012) · Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) · doi:10.1109/embc.2012.6346609 · Cited by 6
Rouleau, M. (2015) · VTechWorks (Virginia Tech) · Cited by 6
Añazco, E. V., Guerrero, S., Lopez, P. R., Oh, J.-H., Ryu, G., & Kim, T. (2024) · Electronics · doi:10.3390/electronics13020379 · Cited by 5
A new SMART gripper with soft fingers and integrated force sensors for adaptive robotic tasks
Burini, V., Logozzo, S., & Valigi, M. C. (2025) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2025.105218 · Cited by 5
Gossen, D., Jin, T., Polzin, S., Witte, M., Schustermann, E., Urzua, A. L., Gosselin, C., Hüsing, M., & Corves, B. J. (2025) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2025.106257 · Cited by 6
Self-citationA Fractal Suction-Based Robotic Gripper for Versatile Grasping
O'Brien, P., Kowalewski, J. F., Kessens, C. C., et al. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3401138 · Cited by 5
“Suction can also be combined with underactuation [22] to produce more effective grasping.”
BackgroundActuation strategies for underactuated anthropomorphic hands
Tavakoli, M., Enes, B., Marques, L., & de Almeida, A. T. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942572 · Cited by 5
Analysis of Differential Mechanisms for a Robotic Head Stabilization System
Williams, A., Saab, W., & Ben‐Tzvi, P. (2017) · doi:10.1115/detc2017-67371 · Cited by 5
Robust capture of unknown objects with a highly under-actuated gripper
Glick, P. E., Crey, N. V., Tolley, M. T., & Ruffatto, D. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197100 · Cited by 7
Under-actuated Robotic Gripper with Multiple Grasping Modes Inspired by Human Finger
Li, J., Liao, T., Nigatu, H., et al. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802532 · Cited by 5
A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework
Chen, Z., Ott, C., & Lii, N. Y. (2015) · Lecture notes in computer science · doi:10.1007/978-3-319-22876-1_33 · Cited by 5
“To adaptively grasp objects with un-known properties, passive compliance is widely investigated in underactuated robotic hands [11].”
BackgroundChen, W., Zhao, S., & Chow, S. L. (2014) · Springer eBooks · doi:10.1007/978-1-4471-4976-7_96-1 · Cited by 5
Design and evaluation of two different finger concepts for body-powered prosthetic hand
Smit, G., Plettenburg, D. H., & van der Helm, F. C. T. (2013) · The Journal of Rehabilitation Research and Development · doi:10.1682/jrrd.2012.12.0223 · Cited by 6
A simple design rule for 1st order form-closure of underactuated hands
Krut, S., & Bégoc, V. (2011) · Mechanical sciences · doi:10.5194/ms-2-1-2011 · Cited by 5
Scarcia, U., Berselli, G., Palli, G., & Melchiorri, C. (2017) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2017.8246897 · Cited by 7
Farag, M., Azlan, N. Z., & Alsibai, M. H. (2018) · IOP Conference Series Materials Science and Engineering · doi:10.1088/1757-899x/342/1/012052 · Cited by 5
Advanced Control Strategies for the Robotic Hand
Khallouf, I. B., & Naidu, D. S. (2018) · International Conference on Control and Automation · doi:10.1109/icca.2018.8444269 · Cited by 5
“An online finite-horizon optimal tracking technique was developed using the state dependent Riccati equation for two-link finger [23], [3], [18].”
MethodExamining the Frictional Behavior of Primitive Contact Geometries for use as Robotic Finger Pads
Leddy, M. T., & Dollar, A. M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2974683 · Cited by 5
Shirafuji, S., & Ota, J. (2020) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2020.103538 · Cited by 5
Development of Two-Way Self-Adaptive Gripper Using Differential Gear
Kang, B., & Cheong, J. (2022) · Actuators · doi:10.3390/act12010014 · Cited by 5
Design and control of an underactuated prosthetic hand
Fassih, A., Naidu, D. S., Chiu, S. C., & Kumar, P. (2012) · Cited by 5
Anthropomorphism Index of Mobility for Artificial Hands
Llop-Harillo, I., Pérez-González, A., & Gracia-Ibáñez, V. (2019) · Applied Bionics and Biomechanics · doi:10.1155/2019/7169034 · Cited by 5
Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin
Hsu, C.-C., Schmitz, A., Kusayanagi, K., & Sugano, S. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968235 · Cited by 5
Design and Simulation of 3 Fingered Underactuated Gripper
Mohan, A., Soman, G., Srichitra, S., et al. (2020) · IEEE Recent Advances in Intelligent Computational Systems · doi:10.1109/raics51191.2020.9332490 · Cited by 5
Genetic Algorithm-Based Optimization for the Geometric Design of a Novel Orthopedic Implant
You, W. S., Casebier, J. C., Mandich, J., et al. (2021) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2021.3080226 · Cited by 5
Mechanical Intelligence for Adaptive Precision Grasp
Lu, Q., Baron, N., Bai, G., & Rojas, N. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561457 · Cited by 5
Compliance analysis of an under-actuated robotic finger
Wassink, M., Carloni, R., & Stramigioli, S. (2010) · 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob.2010.5628054 · Cited by 5
“This general design analysis coincides with the equilibrium point observations in [5].”
BackgroundResultA Novel Underactuated Hand Suitable for Human-Oriented Domestic Environments
Farinha, A. T., & Lima, P. U. (2016) · doi:10.1109/icarsc.2016.21 · Cited by 5
Fuzzy controlled object manipulation using a three-fingered robotic hand
da Fonseca, V. P., Kucherhan, D. J., de Oliveira, T. E. A., et al. (2017) · 2020 IEEE International Systems Conference (SysCon) · doi:10.1109/syscon.2017.7934753 · Cited by 5
Design and Evaluation of an Underactuated Adaptive Finger for Parallel Grippers
Kok, Y. Y., & Low, K. H. (2018) · International Conference on Control, Automation, Robotics and Vision (ICARCV) · doi:10.1109/icarcv.2018.8581359 · Cited by 5
“Examples are the Festo Fin Ray Finger and the adaptive gripper developed by Birglen [3]-[6].”
BackgroundMethodInfluentialA 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.2011.6048748 · Cited by 5
A Graphic User Interface (GUI) to build a cost-effective customizable 3D printed Prosthetic HandPreprint
Lázaro-Guevara, J., Gondokaryono, R., González, L., et al. (2020) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2020.03.18.997486 · Cited by 5
One Motor, Two Degrees of Freedom Through Dynamic Response Switching
Hawkes, E. W., Christensen, D. L., Pope, M. T., et al. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2526066 · Cited by 4
“In robotic hands also, the need to reduce weight, complexity, and cost leads to underactuated designs with fewer actuators than degrees of freedom [4].”
BackgroundDesign of an Integrated Gripper with a Suction System for Grasping in Cluttered Environment
Kang, L., Seo, J.-T., Kim, S.-H., et al. (2019) · IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) · doi:10.1109/ro-man46459.2019.8956433 · Cited by 4
The “Fluid Jacobian”: Modeling force-motion relationships in fluid-driven soft robots
Remy, C. D., Brei, Z., Bruder, D. M., et al. (2023) · The International Journal of Robotics Research · doi:10.1177/02783649231210592 · Cited by 4
“These effects are similar to under actuation in rigid robotic systems, such as robotic hands Birglen et al. (2007).”
BackgroundMultisensory Integrated Dexterous Finger With Coupled-Adaptive Features
Li, W., Jiang, L., Cheng, M., et al. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3370829 · Cited by 4
“The compliance of the mechanism can be evaluated by the force f 1 of the middle phalanx on the object when the finger is adaptive in the C 1 type [22] (9) The grasp type C 2 is a scene in which fingertip is in precision grasp or manipulation, and the equilibrium curve can be drawn according to the f…”
Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs
Kanner, O. Y., Rojas, N., & Dollar, A. M. (2015) · doi:10.1115/detc2015-47867 · Cited by 4
Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers
Ma, R. R., Rojas, N., & Dollar, A. M. (2015) · Mechanisms and machine science · doi:10.1007/978-3-319-23327-7_79 · Cited by 4
A novel underactuated hand with adaptive robotic fingers
Gao, B., Lei, L., Zhao, S., et al. (2016) · IEEE International Conference on Information and Automation (ICIA) · doi:10.1109/icinfa.2016.7832037 · Cited by 4
“This pattern, defined as underactuation, can be implemented through the use of passive mechanical structure like mechanical limits or springs leading to a mechanical adaption of the fingers to the shape of objects [7].”
BackgroundDecoupled Control of Position and / or Force of Tendon Driven Fingers
Lange, F., Quere, G., & Raffin, A. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794297 · Cited by 4
“In this way it is not trivial to control the joints in a decoupled way [11], [12], [13], [14], [15], [16].”
BackgroundDesign of a Novel Locking Ratcheting Mechanism for a Body-Powered Underactuated Hand
Lee, H. C., & Cipra, R. J. (2019) · Journal of Medical Devices · doi:10.1115/1.4045834 · Cited by 4
Finger Orientation for Robotic Hands
Luo, M. (2012) · Mechanisms and machine science · doi:10.1007/978-1-4471-4664-3_7 · Cited by 4
Farnioli, E., Gabiccini, M., & Bicchi, A. (2016) · Springer series on touch and haptic systems · doi:10.1007/978-3-319-26706-7_13 · Cited by 4
“the eigengrasp, presented in [12], the parallel structure based [22], or the recent adaptive synergies approach, described in [23] and in Chapter 7.”
BackgroundUnderactuated Tendon-driven Finger Design with Bio-inspired Ligamentous Joint mechanism
Son, H., Lee, G., Lee, C., et al. (2018) · IEEE International Conference on Cyborg and Bionic Systems (CBS) · doi:10.1109/cbs.2018.8612226 · Cited by 4
“The underactuation system is defined as the number of actuators is smaller than the motion degrees-of-freedom (DOFs) [7].”
BackgroundLeddy, M. T., & Dollar, A. M. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793812 · Cited by 4
“Anthropomorphism was preferred for the underactuated hand parameters because these configurations nominally produce favorable wrap grasp performance [7] and we aimed to retain these benefits as we further optimized the precision grasping performance.”
BackgroundMethodInfluentialDesign of a Highly Compliant Underactuated Prosthetic Hand
Cheng, M., Fan, S., & Jiang, L. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961650 · Cited by 4
Potential Grasp Robustness for underactuated hands: New heuristics and uncertainty considerations
Almeida, L., & Moreno, P. (2020) · IEEE International Conference on Autonomous Robot Systems and Competitions · doi:10.1109/icarsc49921.2020.9096152 · Cited by 4
Jiang, M., Song, R., & Gravish, N. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341618 · Cited by 4
“In the last few decades, we have seen an increased interest in the design of compliant robotic systems exploiting underactuation such as, robotic hands [6], grippers [7], [8] and exoskeletons [9], and walking robots [10], [11], most of which were based on tendon-driven mechanisms enabling lightweight, compact and more…”
BackgroundVisual cues used to evaluate grasps from images
Sundberg, M., Litwinczyk, W., Grimm, C. M., et al. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487343 · Cited by 4
“While there has been significant progress in the domain of robotic grasping and manipulation both in terms of hardware [3], [4], [5] and software development [6], [7], [8], [9], more work is required.”
BackgroundGovindan, N., Kovvali, S. S. V., Chandrasekaran, K., et al. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8462970 · Cited by 4
“For doing fine manipulation and grasping, underactuated hands [13] [14], simple hands using extrinsic resources [15], and dexterous grippers [16] have been reported in literature.”
BackgroundA robust design of a prosthetic finger and its dynamic analysis
Kashef, S. R., Davari, M., & Akbarzadeh, A. (2018) · RSI International Conference on Robotics and Mechatronics (ICRoM) · doi:10.1109/icrom.2018.8657605 · Cited by 4
Design of a sensor integrated adaptive gripperPreprint
Sainul, I., Deb, S., & Deb, A. K. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2008.11754 · Cited by 4
“A number of robotic hands/grippers can be found in the literature [6].”
BackgroundA Mechanical Adhesive Gripper Inspired by Beetle Claw for a Rock Climbing RobotPreprint
Zi, P., Xu, K., Tian, Y., et al. (2022) · SSRN Electronic Journal · doi:10.2139/ssrn.4133210 · Cited by 4
Sun, L., Lan, Y., Wang, B., & Li, J. (2024) · Journal of Robotics · doi:10.1155/2024/3620540 · Cited by 3
Andrés, J., Iserte-Vilar, J. L., & Roda-Casanova, V. (2024) · Biomimetics · doi:10.3390/biomimetics9100616 · Cited by 3
An underactuated gripper design and evaluation with linkage-based system for a front approach
Choi, J., Won, J., Lee, W., et al. (2025) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2025.105005 · Cited by 3
Exo-Glove Pinch: A Soft, Hand-Wearable Robot Designed Through Constrained Tendon Routing Analysis
Kim, B., Jeong, U., & Cho, K. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3598647 · Cited by 3
A Multifingered Robotic Hand With Fiber-Optic Force and Tactile Sensing for Remote Manipulation
Yi, J., Chung, W. J., Lee, J., et al. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3645962 · Cited by 3
R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations
Jeanneau, G., Bégoc, V., Briot, S., et al. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196990 · Cited by 3
“This preload system plays the same role as elastic elements introduced in the design of underactuated hands [27], i.”
BackgroundDesign of a lightweight hydraulic myoelectric prosthetic hand
Milfont, F. G. A., & Malagón, L. A. G. (2021) · Research on Biomedical Engineering · doi:10.1007/s42600-021-00185-w · Cited by 3
“Then, the hydraulic actuator cannot be used to describe the position of all joints, because they depend on the contact of each connection with the object, so this is an adaptative mechanism with 8 DoF’s, (2 DoF’s for each MCP and PIP joints of 4 fingers) (Birglen et al. 2007; Dollar and Howe 2010).”
Method
Metadata
- 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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