Fluid Lubricated Dexterous Finger Mechanism for Human-Like Impact Absorbing Capability

This letter presents a novel three degree-of-freedom finger mechanism that features excellent impact absorbing performance, high force, and precision comparable to human hands. Inspired by human fingers, it has a simple structure with a minimum number of rigid components: seven rigid frames, several...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2019-10, Vol.4 (4), p.3971-3978
Main Authors: Kim, Yong-Jae, Yoon, Junsuk, Sim, Young-Woo
Format: Article
Language:English
Subjects:
Absorption
Bio-inspired engineering
Bioinspired mechanism
Bushings
compliant mechanism
Dextrous fingers
Dislocations
End effectors
flexible robots
Joints
Joints (anatomy)
Ligaments
Lubrication
Mouse devices
Prosthetic hand
robotic hand
Robots
Rolling contact
tendon-driven mechanism
Tendons
Twisting
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