Underactuated Robotic Hands

By L. Birglen, Thierry Laliberté, Clément M. Gosselin. Springer Tracts in Advanced Robotics, 2008

462 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Adaptive synergies for the design and control of the Pisa/IIT SoftHand (2014, methodology): “This approach, authoritatively described in [Birglen et al., 2008], is referred to as underactuation and has produced a number of interesting hands since the earliest times of robotics.”
A compliant, underactuated hand for robust manipulation (2013, methodology): “Attempts at obtaining stable fingertip grasps with underactuated fingers have typically involved the addition of special-purpose mechanisms for stabilizing the fingertips, such as active locking mechanisms to reduce underactuated degrees of freedom as in the SRI Hand (Aukes et al., 2012) or in Begoc”
Kinova Modular Robot Arms for Service Robotics Applications (2017, background): “Underactuated grippers (Birglen et al., 2008), with one motor per finger, where thus designed to simplify the controller, to reduce costs and to automatically adapt to the shape of different objects.”