The aim of this paper is the design of a new low-cost and easy operation 1 dof finger prototype, which can be used as a module for an anthropomorphic hand. The human cylindrical grasp has been analyzed in order to design a suitable articulated mechanism for the power transmission to the phalanges. Numerical computations have been carried in order to verify the feasibility of the proposed design. Five force sensors and an accelerometer have been installed on the built prototype in order to experimentally validate its operation.
Volume Subject Area:
Mechanisms and Robotics
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