@inproceedings{2b7fc1787b03412bb8b69d5401c206b7,
title = "A highly-underactuated robotic hand with force and joint angle sensors",
abstract = "This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ({"}thumb{"}) can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape",
keywords = "Robotic Hands, Tactile sensors, Underactuation",
author = "Long Wang and Joseph DelPreto and Sam Bhattacharyya and Jonathan Weisz and Allen, {Peter K.}",
year = "2011",
doi = "10.1109/IROS.2011.6048748",
language = "English",
isbn = "9781612844541",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "1380--1385",
booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",
note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",
}