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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 401–500 of 573
Squirrel-inspired Tendon-driven Passive Gripper for Agile Landing
Wang, S., Kuang, D., Lee, S., et al. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610730 · Cited by 3
Self-Adaptive Compliant Grippers Capable of Pinch Preshaping
Birglen, L., & Herbecq, F. (2009) · doi:10.1115/detc2009-87067 · Cited by 3
“Using self-adaptive (also referred to as underactuated) mechanisms lead to an automatic—but entirely mechanical—adaptation of the robotic finger to the shape of the object seized [15].”
BackgroundSelf-citationDevelopment of an Adaptive Prosthetic Hand
Xu, Y., Jing, X., Wu, X., et al. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961487 · Cited by 3
“So far, a number of well-designed underactuated hands that introduced the concept of synergy have been developed, and even some have been already commercialized [3-7].”
BackgroundKatsumaru, A., & Ozawa, R. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197475 · Cited by 3
“Parallel link structures and tendon-driven mechanisms have been frequently used for realizing underactuated mechanisms [9], [12], [4], [3], [7], [19].”
BackgroundAnalysis of the Walking Chair from Tokyo Institute of Technology with Screw Theory
Massin, J., & Birglen, L. (2022) · Mechanisms and machine science · doi:10.1007/978-3-030-99826-4_8 · Cited by 3
Self-citationRealization of Robotic Hands based on Kinematics and Mechanics
Ozawa, R. (2022) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.40.381 · Cited by 3
Grasp space exploration method for an underactuated gripper using human initiated primitive grasps
Rolinat, C., Grossard, M., Aloui, S., et al. (2022) · International Journal of Intelligent Robotics and Applications · doi:10.1007/s41315-022-00265-9 · Cited by 3
“This is discussed in depth in Birglen et al. (2008).”
Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
Hsu, M., Chen, H., Soong, C., & Yeh, T. ‐. (2024) · Journal of Mechanisms and Robotics · doi:10.1115/1.4065075 · Cited by 3
Nini, L., Tontini, L., Tagliamonte, N. L., et al. (2024) · IEEE Access · doi:10.1109/access.2024.3517422 · Cited by 3
Sompur, V., Varadhan, S. K. M., & Thondiyath, A. (2025) · Applied Sciences · doi:10.3390/app15063214 · Cited by 3
Experiments of fine manipulation tasks with dexterous robotic hands
Palli, G., Pirozzi, S., Natale, C., et al. (2015) · Meccanica · doi:10.1007/s11012-015-0217-x · Cited by 3
“…the extremely complex structure of the human hand, the design of robotic hands developed so far usually focuses on specific aspects like: reducing the number of actuators [6], reproducing the anthropomorphic aspect [8], achieving high dexterity potentialities [18], obtaining a very high speed [22].”
BackgroundMechanism design of underactuated robotic hand
Huang, Y., Zhang, X., Zhang, J., & Huang, C. (2016) · International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) · doi:10.1109/marss.2016.7561735 · Cited by 3
“Tendon transmission, link transmission, and gear transmission are the main methods in the field of robotic hand [17-19].”
MethodDesign of a Underactuated Robotic Hand with Three Articulated Fingers
Wang, X., Zhao, Y., Xiao, Y., Zhu, Y., & Wang, Y. (2018) · IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) · doi:10.1109/iaeac.2018.8577849 · Cited by 3
“It means that the number of actuators included is less than the degree of freedom of the system, and more work tasks can be realized with fewer actuators [3-4].”
BackgroundOptimization and Design of a Gripper Mechanism for Autonomous Unmanned Aerial Vehicle Perching
Baird, C., & Nokleby, S. (2020) · Mechanisms and machine science · doi:10.1007/978-3-030-43929-3_15 · Cited by 3
Yako, C. L., Yuan, S., & Salisbury, J. K. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982148 · Cited by 3
Underactuated Finger Closing Motion Control Using Dual Drive Actuation
Boucher, J.-M., & Birglen, L. (2015) · doi:10.1115/detc2015-46626 · Cited by 3
Self-citationMechatronics modeling of a branching tendon-driven robot
Bamdad, M., & Mardany, A. (2014) · doi:10.1109/icrom.2014.6990955 · Cited by 3
“Recently, underactuated robotic hands with fewer actuators than joints have been designed using parallel mechanisms [10] and Tendondriven robots with un-actuated elastic tendons [5][11].”
BackgroundEvaluating human gaze patterns during grasping tasks
Allani, S. K., John, B., Ruiz, J., et al. (2016) · ACM Symposium on Applied Perception · doi:10.1145/2931002.2931007 · Cited by 3
“The domain of robotic grasping and manipulation has seen significant progress both in terms of hardware [Dollar and Howe 2010; Birglen et al. 2008; Brown et al. 2010] and software development [Saxena et al.”
MethodGrasping force control preventing excessive deformation for underactuated prosthetic hands
Zhang, Y., Chu, L., Zhuo, W., et al. (2016) · IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC) · doi:10.1109/imcec.2016.7867518 · Cited by 3
Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots
Birglen, L. (2017) · doi:10.15607/rss.2017.xiii.001 · Cited by 3
Self-citationSong, Y., Li, H., & Shi, X. (2020) · Mathematical Problems in Engineering · doi:10.1155/2020/5426087 · Cited by 3
Garcia, A. R. (2013) · Cited by 3
Structural and Experimental Study of a Multi-Finger Synergistic Adaptive Humanoid Dexterous Hand
Cao, S., Bao, G., Pan, L., Yang, B., & Zhou, X. (2025) · Biomimetics · doi:10.3390/biomimetics10030155 · Cited by 4
Underactuated Finger Design: A Minimalistic Approach Toward Biomimetic Prosthetic Finger
Sompur, V., Varadhan, S. K. M., & Thondiyath, A. (2025) · IEEE Access · doi:10.1109/access.2025.3572241 · Cited by 2
“Underactuated linkage-based fingers are susceptible to the ‘‘roll-back phe-nomenon’’, which leads to the ‘ejection’ of the object [6].”
InfluentialChai, J., Li, Y., & Dong, E. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3612226 · Cited by 2
“Inspired by the design principle of ‘more human than human’ [22], the CYJ .”
Do Robots Really Need Anthropomorphic Hands? A Comparison of Human and Robotic Hands
Fabisch, A., Amri, W. Z. E., Singh, C., & Navarro-Guerrero, N. (2026) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-026-02431-8 · Cited by 4
“As a result, semi-rigid hands provide safe and flexible grasping without requiring fully soft elastomer bodies or highly complex control algorithms, offering a practical balance between traditional structural payload capacity and the compliance of soft robotics [46].”
Underactuated Finger Mechanism for LARM Hand
Zottola, M., & Ceccarelli, M. (2014) · Mechanisms and machine science · doi:10.1007/978-3-319-07058-2_32 · Cited by 2
An Unpowered Exoskeleton to Reduce Astronaut Hand Fatigue during Microgravity EVA
Carey, A. J., & Robinson, S. (2016) · AIAA SPACE 2016 · doi:10.2514/6.2016-5390 · Cited by 2
Pozzobon, L. A., Guerra, R. D. S., & Librelotto, G. R. (2019) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar46387.2019.8981648 · Cited by 2
“In this scope, when studying manipulation problems with underactuated robotics, such as the ones presented in this project, the goal is to build adaptable mechanisms, which have their control facilitated through a more complex design [11].”
BackgroundADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS
Nafa, F., Boudouda, A., & Smaani, B. (2021) · Acta Polytechnica · doi:10.14311/ap.2021.61.0350 · Cited by 2
A Multibody Approach for the Finger Force Estimation of a Robotic Hand
Grazioso, A., Danese, C., Zappatore, G. A., et al. (2023) · Lecture notes in computer science · doi:10.1007/978-3-031-39504-8_5 · Cited by 2
A Gripper with Wave Joint Fingers for Precision Grasping
Logozzo, S., & Valigi, M. C. (2024) · Mechanisms and machine science · doi:10.1007/978-3-031-64569-3_56 · Cited by 2
Soft finger rotational stability for precision grasps
Jang, H., Petrichenko, V., Bae, J., et al. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802720 · Cited by 2
Motor-Less Robotic Gripper: Driving Mechanism by Robotic Manipulator Movement
Nishimura, T., Ueno, K., & Watanabe, T. (2025) · IEEE Access · doi:10.1109/access.2025.3538001 · Cited by 2
Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion
Orozco-Magdaleno, E. C., Castillo-Castañeda, E., Rodríguez-Abreo, O., & Carbone, G. (2025) · Robotics · doi:10.3390/robotics14060079 · Cited by 2
Development and kinematics/dynamics analysis of novel hybrid hand with flexible coupling chain
Chang, Z., Gao, R., & Sun, F. H. (2025) · Robotica · doi:10.1017/s026357472510204x · Cited by 2
Hamon, P., Michel, L., Plestan, F., et al. (2022) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2022.10.483 · Cited by 2
Evaluation of linear and revolute underactuated grippers for steel foundry operations
Carpenter, R., Hatton, R. L., & Balasubramanian, R. (2015) · Industrial Robot the international journal of robotics research and application · doi:10.1108/ir-01-2015-0004 · Cited by 2
Design of a tendon-driven robotic hand with an embedded camera
Mitsui, K., & Ozawa, R. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907853 · Cited by 2
“In contrast, under-actuated robotic hands have been developed to decrease the size and weight of the hands with the sacrifice of the hand functions [10], [11], [12], [13], [14], [15].”
BackgroundQuasi-static modelling of compliant mechanisms: application to a 2-DOF underactuated finger
Quennouelle, C., & Gosselin, C. (2011) · Mechanical sciences · doi:10.5194/ms-2-73-2011 · Cited by 2
“It is different from the kinematic “transmission matrix” used in the theory of underactuation (Birglen et al., 2008), because only the former considers the compliance of the joints.”
BackgroundMethodInfluentialSelf-citationEffects of elasticity on an under-actuated tendon-driven robotic finger
Ozawa, R., & Moriya, M. (2010) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2010.5723444 · Cited by 2
“Thus, tendondriven mechanisms [4], [5] and linkage mechanisms [6] [7] are used to drive them with actuators located away from the joints of the end-effectors, or UA mechanisms are used to eliminate some actuators from the mechanisms [2].”
BackgroundInstantaneous-Stiffness Plane Analysis of Underactuated Fingers
Belzile, B., & Birglen, L. (2015) · doi:10.1115/detc2015-47310 · Cited by 2
Self-citationAnthropomorphic Underactuated Hand with 15 Joints
Matheson, E., Aoustin, Y., Carpentier, É. L., et al. (2016) · Mechanisms and machine science · doi:10.1007/978-3-319-30674-2_21 · Cited by 2
Advanced Grasping with the Pisa/IIT SoftHand
Bonilla, M., Santina, C. D., Rocchi, A., Luberto, E., Santaera, G., Farnioli, E., Piazza, C., Bonomo, F., Brando, A., Raugi, A., et al. (2018) · Communications in computer and information science · doi:10.1007/978-3-319-94568-2_2 · Cited by 4
A Proposed Software Framework for Studying the Grasp Stability of Underactuated Fingers
Zappatore, G. A., Reina, G., & Messina, A. (2018) · Mechanisms and machine science · doi:10.1007/978-3-030-00365-4_24 · Cited by 2
Design and Analysis of a Parallel and Self-adaptive Finger with Pin-array Structure
Fu, H. Y., & Zhang, W. (2019) · IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm.2019.8833974 · Cited by 2
“Starting from the cost reduction and control difficulty, the underacted hands [7] were developed.”
BackgroundCREASE: Synchronous gait by minimizing actuation through folded geometry
Mesa, O., Mhatre, S., & Aukes, D. (2020) · International Journal of Architectural Computing · doi:10.1177/1478077120948204 · Cited by 2
Harada, K. (2013) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.31.320 · Cited by 2
Ormaechea, R. C. (2011) · Springer eBooks · doi:10.1007/978-0-85729-588-0_2 · Cited by 2
Estimation of the Interaction Forces in a Compliant pHRI Gripper
Ruiz-Ruiz, F. J., Urdiales, C., & Gómez-de-Gabriel, J. M. (2022) · Machines · doi:10.3390/machines10121128 · Cited by 2
“To avoid interference with the human skin, instead of using tendon-driven mechanisms, the fingers were based on the rigid link approach [29], replacing the link that pushes from the outer side of the gripper with a compression spring.”
BackgroundMethodDesign and Development of a Dexterous Teleoperation Setup for Nuclear Waste Remote Manipulation
Gosselin, F., & Grossard, M. (2023) · Lecture notes in electrical engineering · doi:10.1007/978-3-031-26474-0_5 · Cited by 2
Multi-Mode Compound Grasping Robot Finger Driven by Linkage
Dong, Y., & Zhang, W. (2023) · Applied Sciences · doi:10.3390/app13095550 · Cited by 2
Optimal PID Control of a Novel Multirotor with Inclined Rotors and Spatial Configuration
Ghazali, M., Bouzid, Y., Derrouaoui, S. H., et al. (2023) · International Conference on Networking and Advanced Systems (ICNAS) · doi:10.1109/icnas59892.2023.10330445 · Cited by 2
Towards humanlike grasp in robotic hands: mechanical implementation of force synergies
Teng, Z., Xu, G., Pei, J., et al. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad3b58 · Cited by 2
Exploiting passive dynamics for robot throwing task
Thandiackal, R., Brandle, C., Leach, D., et al. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6386000 · Cited by 2
Mahanta, G. B., Rout, A., Murali, G. B., et al. (2020) · Lecture notes in mechanical engineering · doi:10.1007/978-981-15-0124-1_131 · Cited by 2
Implementation of a Remote Center of Motion Robot Finger with Tactile Sensors in the Joints
Hsu, C.-C., Schmitz, A., Khullar, G., et al. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961450 · Cited by 2
“Underactuation is discussed for example in [9] [10] [11].”
BackgroundDesigning Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts
Nakayama, K., Wan, W., & Harada, K. (2019) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids43949.2019.9035040 · Cited by 2
“There are also researches on shape adaptive mechanisms [8] and soft finger mechanisms [9].”
BackgroundPartial Contact Loss in Robotic Vacuum Grasping
Maggi, M., Mantriota, G., & Reina, G. (2022) · Mechanisms and machine science · doi:10.1007/978-3-031-10776-4_75 · Cited by 2
Mechanical Design and Field Evaluation of a Robotic Apple Harvester
Davidson, J. R. (2016) · Research Exchange (Washington State University) · Cited by 2
Towards Complex and Continuous Manipulation: A Gesture Based Anthropomorphic Robotic Hand DesignPreprint
Tian, L., Li, H., Wang, Q., et al. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2012.10981 · Cited by 2
Design and Control of a Dexterous Anthropomorphic Robotic Hand
Cerruti, G. (2016) · theses.fr (ABES) · doi:10.70675/fc491a45z0894z4c37zad2dzf8c7a6ed6923 · Cited by 2
A Bistable Underactuated Finger with Reconfigurable Grasping Modes
Nelson, C. A. (2018) · International Conference on Reconfigurable Mechanisms and Robots (ReMAR) · doi:10.1109/remar.2018.8449860 · Cited by 1
“Underactuated graspers are favored for their relative mechanical simplicity [3].”
BackgroundMathematical Modelling and Experimental Validation of an Articulated Vacuum Gripper
Maggi, M., Reina, G., & Mantriota, G. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342100 · Cited by 1
Kinematics and Configuration Analysis of a Five-Fingered Metamorphic Robot Hand
Liu, H., & Zhang, H. H. (2024) · International Conference on Reconfigurable Mechanisms and Robots (ReMAR) · doi:10.1109/remar61031.2024.10617699 · Cited by 1
Vision-Based State Estimation for Underactuated Grippers ,
Jonker, M., de Jong, J. J., Roozing, W., et al. (2025) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2025.10.200 · Cited by 1
Zhu, Y., & Zhang, W. (2025) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio66223.2025.11376343 · Cited by 1
Kang, H., Han, D., Son, K., & Kang, M.-S. (2026) · International Journal of Control Automation and Systems · doi:10.1007/s12555-026-00046-1 · Cited by 1
Trajectory Tracking of Multibody Systems
Seifried, R. (2013) · Solid mechanics and its applications · doi:10.1007/978-3-319-01228-5_4 · Cited by 1
Design of a Simple Underactuated Mechanical Gripper
Surakijboworn, M., & Wannasuphoprasit, W. (2014) · Applied Mechanics and Materials · doi:10.4028/www.scientific.net/amm.619.44 · Cited by 1
Modelling and control of robotic joints based on sliding pairs
Palli, G., & Melchiorri, C. (2013) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2013.6584349 · Cited by 1
“Many robot hands have been designed in the past, and the research in the field of robotic hands development has been focused in designing hands with reduced number of actuators [1], with anthropomorphic aspect [2], with high dexterity potentialities [3], with very high speed [4], or compliance [5], or many other speci…”
BackgroundStatic model for a 3-DOF underactuated finger
Guay, F., & Gosselin, C. (2011) · Mechanical sciences · doi:10.5194/ms-2-65-2011 · Cited by 1
“We equate the input and output virtual powers acting on the finger and obtain (Birglen et al., 2008): tTωa = 3∑ i=1 ξi ◦ζi (1) where t = Ta0 0 , ωa = θ̇1θ̇2 θ̇3 , ξi = ωivxi vyi and ζi = ftifni τi t is the vector composed of the input torques applied on the ith joint (i = 1,2,3).”
BackgroundMethodInfluentialSelf-citationAdaptability analysis, evaluation and regulation of compliant underactuated mechanisms
Chen, W., & Xiong, C. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354237 · Cited by 1
The Falcon Project: Model-Based Design of Automated Warehouses
Hamberg, R., & Verriet, J. (2011) · Springer eBooks · doi:10.1007/978-0-85729-968-0_1 · Cited by 1
Teleimpedance Control: Overview and Application
Ajoudani, A., Godfrey, S. B., Tsagarakis, N. G., et al. (2016) · Springer series on touch and haptic systems · doi:10.1007/978-3-319-26706-7_10 · Cited by 1
A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand
Liang, D., & Zhang, W. (2016) · Lecture notes in computer science · doi:10.1007/978-3-319-47437-3_46 · Cited by 1
Evaluation of Spring Stiffness for Stable Grasp in Underactuated Fingers
Chu, Z., Hu, J. J., & Lu, S. (2016) · Lecture notes in electrical engineering · doi:10.1007/978-981-10-2875-5_6 · Cited by 1
Cascade control of robotic fingers with anthropomorphic inspiration
Farag, M., Azlan, N. Z., & Ahmad, S. (2016) · IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS) · doi:10.1109/i2cacis.2016.7885309 · Cited by 1
“Most robotic fingers prototypes suffer from complicated designing, high costs and lack of control robustness due to the implementation of simple control strategies [8].”
BackgroundExperimental Results for QuBu Gripper: A 3-Jaw Electric Gripper
Quaglia, G., & Butera, L. G. (2017) · Mechanisms and machine science · doi:10.1007/978-3-319-61276-8_65 · Cited by 1
Kurita, T., & Higashimori, M. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794157 · Cited by 1
“The grasping type of manipulation using multifingered hands has often employed underactuated systems [9].”
BackgroundGrasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedback
Pastor, F., Gandarías, J. M., Garcia-Cerezo, A. J., et al. (2019) · Advances in intelligent systems and computing · doi:10.1007/978-3-030-36150-1_36 · Cited by 1
“Both matrices depend on the joints and actuator positions [4].”
BackgroundCheng, S., Zhang, W., & Li, W. (2020) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm49381.2020.9195307 · Cited by 1
One-Shot 3D Printed Underactuated Gripper
Cormack, J., Fotouhi, M., Adams, G., et al. (2020) · Lecture notes in computer science · doi:10.1007/978-3-030-63486-5_41 · Cited by 1
Liarokapis, M. V., & Kontoudis, G. P. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561114 · Cited by 1
Underactuation with Link Mechanisms
Gosselin, C. (2018) · Springer eBooks · doi:10.1007/978-94-007-6046-2_86 · Cited by 1
Self-citationThe Significance of Design Study of Industrial Robot and its End Effectors
Ramesh, B. T., Sayyad, J. K., & Bongale, A. M. (2022) · International Conference on Emerging Research in Electronics, Computer Science and Technology (ICERECT) · doi:10.1109/icerect56837.2022.10060673 · Cited by 1
Fuzzy Fast Terminal SMC for Underactuated Mechanical Systems
Bendenidina, A., Guesmi, K., & Rebai, A. (2023) · International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS) · doi:10.1109/icaeccs56710.2023.10104963 · Cited by 1
“The underactuated systems can be found in many applications and different fields like in robotics [2], [3], aeronautics [4] and marine systems [5], [6].”
BackgroundControl of an Underactuated Mechanical System with Reinforcement Learning Compensation
Hernández, R., García-Hernández, R., & Jurado, F. (2023) · International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) · doi:10.1109/cce60043.2023.10332903 · Cited by 1
A Modular Shape-Adaptive Mechanism for Robust Robotic Grasping
Nelson, C. A. (2015) · Mechanisms and machine science · doi:10.1007/978-3-319-18126-4_3 · Cited by 1
“In contrast to dexterous hands, which are mechanically very complex [3, 4], underactuated graspers are favored for their relative mechanical simplicity and their adaptability (without the need for feedback control) [5], but one drawback of typical underactuated grasper designs has to do”
BackgroundLi, S., Sheng, X., & Zhu, X. (2015) · IEEE International Conference on Advanced Intelligent Mechatronics (AIM) · doi:10.1109/aim.2015.7222707 · Cited by 1
Anthropomorphic Finger Mechanism with a Nonelastic Branching Tendon
Yanagisawa, K., Shirafuji, S., Ikemoto, S., et al. (2015) · Advances in intelligent systems and computing · doi:10.1007/978-3-319-08338-4_84 · Cited by 1
Influence of fingertip and object shape on the manipulation ability of underactuated hands
Ospina, D., & Ramirez‐Serrano, A. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8202176 · Cited by 1
“As a result, springs are commonly used in underactuated fingers, among other reasons, to constrain their motion and avoid static indeterminacy [1].”
BackgroundInfluentialPractical considerations on proprioceptive tactile sensing for underactuated fingers
Belzile, B., & Birglen, L. (2018) · Transactions of the Canadian Society for Mechanical Engineering · doi:10.1139/tcsme-2017-0017 · Cited by 1
“A transmission mechanism and compliant elements are used to constrain the motion and provide shape adaptation (Birglen et al. 2008).”
Self-citationModelling, trajectory optimisation and prototyping of sequentially actuated manipulators
Harton, D., Laliberté, T., & Gosselin, C. (2018) · Robotica · doi:10.1017/s0263574718001017 · Cited by 1
Self-citationDesign of a Super Underactuated Dexterous Robotic Hand
Ma, X., Zhang, W., Chen, X., Yu, Z., Ding, W., Qin, M., Ming, A., & Huang, Q. (2018) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma.2018.8484724 · Cited by 1
Preliminary design of a revolute to prismatic morphing compliant joint
Mouazé, N., & Birglen, L. (2019) · Transactions of the Canadian Society for Mechanical Engineering · doi:10.1139/tcsme-2019-0190 · Cited by 1
Self-citationA Reconfigurable Underactuated Grasper with In-hand Manipulation
Nelson, C. A. (2021) · Mechanisms and machine science · doi:10.1007/978-3-030-75271-2_16 · Cited by 1
Almeida, L., & Moreno, P. (2021) · SN Applied Sciences · doi:10.1007/s42452-021-04594-5 · Cited by 1
Design and Development of a Bio-inspired Novel 3-Fingered Gripper Platform
Sompur, V., Thondiyath, A., & Varadhan, S. K. M. (2021) · Advances in Robotics - International Conference of The Robotics Society (AIR) · doi:10.1145/3478586.3478613 · Cited by 1
Design and Development of an Experimental Claw-Grip, Forefinger Simulator. Part I: Kinematics
Rodríguez, R., Aguilar-Pérez, L. A., Torres‐SanMiguel, C. R., et al. (2015) · Advanced structured materials · doi:10.1007/978-3-319-19470-7_2 · Cited by 1
“As an example there are commercial devices like the “I-limb” prosthesis, developed by the company “Touch Bionics”, (Bionics 2009), the prosthesis named “BEBIONIC” [5], developed by a private company, without forgetting some others universities around the world such as the device developed by the University of Florida…”
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
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
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