Analytical study for the capability implementation of an underactuated three-finger hand

Abstract

Combining the simple design with the implementation capability of underactuated hands is a challenging task. In this context, it is necessary to find a compromise between the number of actuators, the grasping abilities and the control strategy. Here, an analytical study is proposed to improve the precision grasping performance together with a simple control strategy of a three-finger underactuated hand.