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TWiki > Main Web>TWikiUsers > DanAukes>HandPaperThoughts (28 Sep 2010, DanAukes)

able to increase the range of stable grasps by changing the mix of forces. mathematical argument of the same argument if you have one more motor you can keep your finger in different state. design of stops - allows you to bring the hand into a configuration that's not necessarily part of its natural kinematic space.

- Hirose soft gripper
- Sarah / Mars Hand
- Vincent's paper
- Pneumatic one

- Underactuation
- Fewer actuators than degrees of freedom
- Springs are often used to balance unconstrained degrees of freedom, provide return forces

- Fewer actuators than degrees of freedom
- Grasp Taxonomies
- Way to organize & classify grasps
- many are anthropomorphic
- derived from human studies

- Current hand design
- double stage mechanism for compactness
- designed to contact wide range of sizes

- Generating Loop equations
- Transmission matrix
- This depends both on your transmission design and your actuator attachment locations.

- Underactuation matrix
- Basic Jacobian
- Contact matrix
- what type of contact are we assuming?
- normal forces

- Variable-stiffness underactuated fingers(2 motors/) have a wider range of stability than highly underactuated fingers (one motor)
- This doesn't necessarily come at the cost of another
**large**motor, because your kinematics can be designed to allow small motors to keep certain configurations near a singularity. - what type of stability are we talking about?
- finger stability
- positive normal forces in all phalanges.

- How can we prove this
- two finger designs, one underactuated with stiffness control, the other locked or fully underactuated?
- simulations and experiment?

- This doesn't necessarily come at the cost of another
- Mechanical stops provide another set of design parameters
- You can use mechanical stops to stay in configurations that wouldn't otherwise be stable
- Mechanical stops reduce your degrees of freedom.

- The basic finger design
- Changing stiffness changes finger wrapping
- pinch / wrap

- Stable regions of the workspace vs. finger stiffness.
- Picture and graphic of actual finger setup

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