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https://hdl.handle.net/10316/108413| Title: | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System | Authors: | Tavakoli, Mahmoud Batista, Rafael Jose Correia Sgrigna, Lucio |
Keywords: | twisted string; prosthetic hand; soft robot; soft hand; soft bionics | Issue Date: | 2015 | Publisher: | MDPI | Project: | Carnegie Mellon-Portugal program and the Portuguese Foundation of Science and Technology, contract CMUP-EPB/TIC/0036/2013 and CMUP-ERI/TIC/0021/2014 | Serial title, monograph or event: | Actuators | Volume: | 5 | Issue: | 1 | Abstract: | In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor. | URI: | https://hdl.handle.net/10316/108413 | ISSN: | 2076-0825 | DOI: | 10.3390/act5010001 | Rights: | openAccess |
| Appears in Collections: | I&D ISR - Artigos em Revistas Internacionais |
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| The-UC-softhand-Light-weight-adaptive-bionic-hand-with-a-compact-twisted-string-actuation-systemActuators.pdf | 15.31 MB | Adobe PDF | View/Open |
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