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  1. Robotics & Automation Magazine
  2. Year : 1996 Volume : 3
  3. Issue 2
  4. Graspar: a flexible, easily controllable robotic hand
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Year : 1996 Volume : 3
Issue 4
Issue 3
Issue 2
Robotic visual servoing and robotic assembly tasks
Graspar: a flexible, easily controllable robotic hand
XAnimate: an educational tool for robot graphical simulation
A multiscale assembly inspection algorithm
Issue 1
Year : 1995 Volume : 2
Year : 1994 Volume : 1

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Graspar: a flexible, easily controllable robotic hand

Content Provider IEEE Xplore Digital Library
Author Crisman, J.D. Kanojia, C. Zeid, I.
Copyright Year 1994
Abstract With only one motor per finger and a simple, easy to maintain, mechanical structure, the Graspar robotic hand uses minimal computation to provide secure grasping of objects ranging from eggs and light bulbs to tennis rackets, coffee pots and stuffed toys. We first discuss currently developed hands, and show the motivation for our work. Next, we present the mechanical structure of our robotic hand and the antagonistic tendoning system. We then show how this structure moves and complies to the object surface. We discuss how we chose the pulley diameters for our tendoning system by maximizing the workspace of the fingers while mechanically insuring that the hand cannot collide with itself. Our control algorithm which uses simple mechanical switches is presented.
Starting Page 32
Ending Page 38
Page Count 7
File Size 2010444
File Format PDF
ISSN 10709932
Volume Number 3
Issue Number 2
Language English
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date 1996-06-01
Publisher Place U.S.A.
Access Restriction Subscribed
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword Robot control Tendons Grasping Mobile robots Humans Fingers Orbital robotics Robotics and automation Shape control Anthropomorphism
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications
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