Cited by 573Robot Manipulation and LearningRobotic Mechanisms and DynamicsSoft Robotics and Applications

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Underactuated Robotic Hands

Birglen, Lionel, Laliberté, Thierry, Gosselin, Clément·2008·Springer Tracts in Advanced Robotics

DOI 10.1007/978-3-540-77459-4

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Items 501–573 of 573

An Integrated System for Robot Grasping of Nonrigid, Fragile Objects
Stachowsky, M. (2016) · The Atrium (University of Guelph) · Cited by 1
Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque SpacesPreprint
Chen, T., Wang, L., Haas-Heger, M., et al. (2019) · arXiv (Cornell University) · doi:10.48550/arxiv.1905.11293 · Cited by 1
A Simple Design Rule for 1 st Order Form-Closure of Underactuated Hands
Krut, S., & Bégoc, V. (2010) · HAL (Le Centre pour la Communication Scientifique Directe) · Cited by 1
A Robotic Head Stabilization Device for Post-Trauma Transport
Williams, A. (2018) · VTechWorks (Virginia Tech) · Cited by 1
Generalized State-Feedback Controller Synthesis for Underactuated Systems through Bayesian OptimizationPreprint
Solís, M. A., & Thomas, S. S. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2103.17158 · Cited by 1
Design and actuation of humanoid hands for natural grasping
Li, T. (2021) · doi:10.32657/10356/155534 · Cited by 1
Robot Grasp Control
Prattichizzo, D., & Pozzi, M. (2021) · Encyclopedia of Systems and Control · doi:10.1007/978-3-030-44184-5_171 · Cited by 1
Robust active compliance control for a robot hand
Jalani, J. (2013) · UTHM Institutional Repository (Universiti Tun Hussein Onn Malaysia) · Cited by 1
Learning by Demonstration for Grasp Planning : application to Pluri-digital and Underactuated Robotic Grasping
Rolinat, C. (2022) · theses.fr (ABES) · doi:10.70675/1f4e1e00zedd9z408czaa41zad3f669d52f6 · Cited by 1
Grasp plannind under task-specific contact constraints
Gallegos, C. R. (2013) · doi:10.5821/dissertation-2117-94879
Modelo dinámico de una mano robótica con mecanismo de desacople mecánico en los dedos
Ramón, J. A. C., Torres, F., & Candelas-Herías, F. A. (2010)
Parameter design of an underactuated robotic hand considering permissible initial object pose error
Su, Y., Zhang, X., Dong, W., et al. (2015) · IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems · doi:10.1109/cyber.2015.7288069
Redundant Driving Underactuated Robot Finger for Powerful Grasp
Li, Q., & Zhang, W. Z. (2013) · Applied Mechanics and Materials · doi:10.4028/www.scientific.net/amm.344.149
“Some underactuated fingers has been developed, such as SARAH Hand [3] , Delft Hand [4] , the underactuated hand [5] , SDM Hand [6] , AR Hand III [7] , LARM Hand [8, 9] , and COSA Hand [10] .”
Method
Mechanical movement aid to nerve damaged and parkinson's using pressure & frequency detection (pseudo arm controller)
Khan, E., & Panchal, A. (2015) · International Conference on Communications and Signal Processing (ICCSP) · doi:10.1109/iccsp.2015.7322775
Switchable under-actuated finger with multiple grasping modes
Li, Q., Wang, D., Zhang, W., et al. (2013) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2013.6739545
“Some under-actuated fingers have been developed, such as SARAH Hand [6] , AR Hand III [7] ,Delft Hand [8] , SDM Hand [9] , LARM Hand [10] [11] .”
Method
Linkage-Based Analysis and Optimization of an Underactuated Planar Manipulator for In-Hand
Ma, R. R., & Dollar, A. M. (2014)
Underactuated robot finger controlled by Variable Vibration Center Effect
Mori, S., & Higashimori, M. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487564
“I. INTRODUCTION Underactuated robots whose number of actuators is less than degrees of freedom have the advantage in reducing the weight, size and cost of the system [1].”
Background
Finger Link Posture Control by Using Variable Vibration Center Effect on Elastic Joint
Mori, S., & Higashimori, M. (2016) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.34.723
Nonlinear observer based control design for an under-actuated compliant robotic hand
Garcia-Rosas, R., Delgado, J. M. P., Tan, Y., et al. (2016) · Australian Control Conference · doi:10.1109/aucc.2016.7867926
1A1-L01 Integrated Origami Hand(Robot Hand Mechanism and Grasping Strategy (1))
Joon Young, R. O. H., Kinugawa, J., & Kosuge, K. (2013) · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · doi:10.1299/jsmermd.2013._1a1-l01_1
Underactuation with Link Mechanisms
Gosselin, C. (2017) · Springer eBooks · doi:10.1007/978-94-007-7194-9_86-1
Self-citation
Design and Implement Towards Enhanced Physical Interactive Performance Robot Bodies
Ren, Z. (2019) · CINECA IRIS Institutial Research Information System (University of Genoa) · doi:10.15167/ren-zeyu_phd2019-02-13
Application and use of quality metrics for the prediction of grasp success and evaluation of artificial hands
Escuder, C. R. (2018) · doi:10.6035/14101.2018.176497
Robotic perception and grasp in unstructured environments
Dong, H. (2019) · doi:10.32657/10220/47731
Robot hand design with linkage and push-pull cable transmission
Alexis, B., Stellin, G., Metta, G., et al. (2019) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2019.8868820
“[10] consists of a three DoF finger, the second one inspired Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Hong Kong, China, July 8-12, 2019”
Background
Optimization and Analysis of Underactuated Linkage Robotic Finger
Hasan, S. S., Nacy, S. M., & Flaieh, E. H. (2015) · Journals & Books Hosting (International Knowledge Sharing Platform)
Twisting String Actuation with Noncircular Wrapping Rods
Mouazé, N., Nguyen, T. H., & Birglen, L. (2020) · Mechanisms and machine science · doi:10.1007/978-3-030-43929-3_12
Self-citation
Robust State Estimation for Underactuated Systems Using Sliding Modes and Attractive Ellipsoid Method
Sánchez, B., Ordaz, P., García, E. F., et al. (2020) · Mechanisms and machine science · doi:10.1007/978-3-030-45402-9_20
Methods for the design and evaluation of anthropomorphic artificial hands
Llop-Harillo, I. (2020) · doi:10.6035/14107.2020.692882
The GFPA Finger: Parallel-Adaption Merged Robot Finger based on Gear-Flexible Belt Mechanism
Wang, Y., He, R., & Zhang, W. (2020) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm49381.2020.9195344
“cn) FDD-hand [8], Mars hand [9] and so on [10-15].”
Background
Under-Actuation Modelling in Robotic Hands via Neural Networks for Sign Language Representation with End-User Validation
Gago, J. J., Łukawski, B., Victores, J. G., et al. (2020) · Lecture notes in computer science · doi:10.1007/978-3-030-62365-4_23
Performance of serial underactuated mechanisms: number of degrees of freedom and actuators
Balasubramanian, R., & Dollar, A. M. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6048230
Operation Capability Analysis and Experiments of Underactuated Compliant Multi-Fingered Hands
Xiao, S., Di, J., Zhang, J., et al. (2020) · International Journal of Robotics and Automation Technology · doi:10.31875/2409-9694.2020.07.4
“In order to reduce the cost of the systems and promote the extensive applications of multi-fingered robot hands, underactuated multi-fingered robot hands have been given many investigations in robotics field in recent years [1-10].”
BackgroundInfluential
Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation
Gosselin, F., Grossard, M., Diallo, D., et al. (2021) · International Conference on Informatics in Control, Automation and Robotics (ICINCO) · doi:10.5220/0010577204590468
“Coupling rods and springs allow to passively adapt to the grasped objects’ geometry as proposed in (Birglen and Gosselin, 2004) and (Birglen et al., 2008).”
Background
Robot Grasp Control
Prattichizzo, D. (2014) · Encyclopedia of Systems and Control · doi:10.1007/978-1-4471-5102-9_171-1
Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology
Barrett, E., Ren, Z., & Tsagarakis, N. G. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636074
Adaptive Modified Transpose Jacobian Control of a Two-fingered Robotic Hand
Davari, M.-J., Moosavian, S. A. A., Ghaffari, A., et al. (2021) · RSI International Conference on Robotics and Mechatronics (ICRoM) · doi:10.1109/icrom54204.2021.9663452
Learning from Humans How to Grasp: Enhancing the Reaching Strategy
Averta, G. (2022) · Springer tracts in advanced robotics · doi:10.1007/978-3-030-92521-5_11
Robot Hands
Birglen, L. (2020) · Springer eBooks · doi:10.1007/978-3-642-41610-1_144-1
Self-citation
Introduction
Chen, C.-H., & Naidu, D. S. (2017) · Wiley eBooks · doi:10.1002/9781119273622.ch1
Conceptual Design and Kinetostatic Analysis of a Novel Three-DoF Underactuated Double Gripper
Liu, H., Guo, S., Liu, B., et al. (2022) · Mechanisms and machine science · doi:10.1007/978-981-16-7381-8_113
References
(2019) · Elsevier eBooks · doi:10.1016/b978-0-12-819284-9.16001-2
Robot Grasp Control
Prattichizzo, D., & Pozzi, M. (2020) · Encyclopedia of Systems and Control · doi:10.1007/978-1-4471-5102-9_171-2
In-hand manipulation with a novel reconfigurable robotic hand
Nelson, C. A. (2022) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062221085092
A New 3D Printed Passive Flexible Prosthesis Based on the Human Foot
Jin, J., Wang, K., Ren, L., et al. (2022) · Lecture notes in computer science · doi:10.1007/978-3-031-13841-6_60
Mathematical Modelling and Kinematic Analysis of a Tendon Driven Under-Actuated Robotic Hand
Biswal, D. R., & Parida, P. K. (2023) · International Journal for Research in Applied Science and Engineering Technology · doi:10.22214/ijraset.2023.48688 · Cited by 1
Design and Analysis of Underactuated Robotic Hands for Spacecraft Surface Attachment
Luo, Y., Wang, C., Huang, L., Ma, J., Xu, K., & Ding, X. (2022) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio55434.2022.10011682
Simulation study of underactuated hand for grasping quality
Abraham, B. M., & Doss, A. S. A. (2022) · doi:10.13180/rane.2022.23.04.12
“In [12] the design methods and theoretical analysis of under-actuated finger mechanisms have been reviewed alongside presenting several prototypes of under-actuated fingers; i.e. less motors than the DOFs [13].”
Jubilee Review: The 65 Years of the ASME Machine Design Award (1958–2023)
Feng, H., Jia, G., Lin, Y., et al. (2023) · Journal of Mechanical Design · doi:10.1115/1.4062347
Myoelectric Prosthesis Using Sensor Fusion Between Electromyography and Pulse Oximetry Signals
Torres, K., Espinoza, J., Asanza, V., Lorente-Leyva, L. L., & Peluffo-Ordóñez, D. H. (2023) · Journal Européen des Systèmes Automatisés · doi:10.18280/jesa.560413
Object manipulation based on tactile information
Montaño, A. (2021) · doi:10.5821/dissertation-2117-348903
Aplicaciones de una garra robótica adaptativa con dedos rotativos
López, R. G., Acebal-Colli, S., Ruiz-Ruiz, F. J., et al. (2023) · doi:10.17979/spudc.9788497498609.593
Modelling and Grasping Analysis of an Underactuated Four-Fingered Robotic Hand
Biswal, D. R., Biswal, A. R., Senapati, R. R., et al. (2023) · Smart innovation, systems and technologies · doi:10.1007/978-981-99-5180-2_22
A 2D Geometry Based Grasping Pose Generation Algorithm for a Two-Finger Robot Hand
Akbari, A., Akbari, A., & Masouleh, M. T. (2023) · doi:10.1109/icee59167.2023.10334804
pHRI Gripper with Pressure Sensing
Lara, F., Castellanos-Ramos, J., Trujillo-León, A., et al. (2024) · Lecture notes in networks and systems · doi:10.1007/978-3-031-59167-9_34
Development of Adaptive Gripper Enhancing Power Grasp Range and Linearity
Rhee, I., Kim, C. S., Jeong, H., et al. (2024) · IEEE Access · doi:10.1109/access.2024.3422675
An Underactuated Humanoid Multi-Finger Dexterous Hand with Adaptive Synergic Grasping
Jin, Y., Zheng, Y., Mao, Y., et al. (2025) · Lecture notes in computer science · doi:10.1007/978-981-96-0771-6_26
Grammarization-Based Robotic Grasping: Adaptive Gripper Finger Design and Control for Unknown Environments and Targets
Askianakis, L. (2025) · AIAA SciTech Forum · doi:10.2514/6.2025-1541
Exploring Deep Learning Grasping Models with Soft Anthropomorphic Robotic Hands
Bernardini, D., Capsi‐Morales, P., Dirnberger, L., et al. (2025) · Springer proceedings in advanced robotics · doi:10.1007/978-3-031-81688-8_11
Assistive Robotic Gripper Devices
Dragusanu, M. (2025) · Springer theses · doi:10.1007/978-3-031-84823-0_4
Kinematically Redundant (6 + 3)-DOF Hybrid Parallel Robot with an Integrated Underactuated Three-Finger Gripper
Guo, Y., Chen, Z., & Wen, K. (2025) · Lecture notes in mechanical engineering · doi:10.1007/978-981-96-1467-7_5
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Chang, Z., Li, H., & Gao, R. (2025) · Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics · doi:10.1177/14644193251346320
The Methodology for the Design of Underactuated Adaptive Robotic Finger for Precision Grasping Tasks
Matijašević, L., Jakovljević, Ž., Nedeljkovic, D. M., et al. (2025) · International Conference on Electrical, Electronic and Computing Engineering (IcETRAN) · doi:10.1109/icetran66854.2025.11114234
Bayesian Optimization for the Synthesis of Generalized State-Feedback Controllers in Underactuated Systems
Solís, M. A., Thomas, S. S., Choque-Surco, C. A., et al. (2025) · Mathematics · doi:10.3390/math13193139
Development and Genetic Algorithm Optimisation of a Constant-torque Robotic Gripper for Space Debris Removal Applications
Isakhani, H., Whiting, J., & Nefti‐Meziani, S. (2025) · doi:10.1109/icar65334.2025.11338656
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Enabling Multiple Grasping Modes: A Retractable and Reconfigurable Robotic Gripper Inspired by Human Finger
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“Designing specialized soft grippers is challenging because it requires detailed knowledge of the contact interactions between the gripper and object (Birglen et al. 2008) - data that is often difficult or infeasible to obtain.”
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HPA Gripper: An Underactuated Gripper for Parallel Pinching and Adaptive Enveloping
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“After contact, passive joints and compliant transmissions allow the fingers to redistribute motion and forces according to object geometry, thereby reducing the burden on active control [2].”

Authors: Birglen, L., Laliberté, T., & Gosselin, C.
ORCID: Birglen, Lionel
Laliberté, Thierry
Venue: Springer Tracts in Advanced Robotics
Publisher: Springer Berlin Heidelberg
Published: 2008
ISSN: 1610-742X (ISSN-L)
1610-7438
DOI: 10.1007/978-3-540-77459-4
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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