Full Content is available to subscribers

Subscribe/Learn More  >

On the Design of Mechanically Programmable Underactuated Anthropomorphic Robotic and Prosthetic Grippers

[+] Author Affiliations
Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier

Université Laval, Québec, QC, Canada

Paper No. DETC2012-70705, pp. 85-94; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


This paper presents several innovative features that aim at improving the mechanical design of underactuated anthropomorphic grippers. Based on prototypes previously developed, the characteristics of a tendon-driven underactuated finger and a reconfigurable thumb are first presented. Their geometry, coverings and attachment principles are detailed. Then, a novel approach to mechanically couple the thumb with the four fingers is presented. Using a lever, this approach provides the ability to mechanically prescribe a desired distribution of the forces/velocities during the actuation. A static model is developed to visualize the possibilities offered by this principle. Also, a compact mechanism that allows underactuation between the four fingers is described. This mechanism significantly improves the synchronization of the outputs. Additionally, a mechanical selector is introduced that makes the gripper mechanically programmable by allowing to selectively block one or many outputs. The use of this mechanical selector, combined with the reconfigurable thumb and the underactuation between the fingers, allows a gripper to produce several grasping modes without the need of additional actuation. Finally, a prototype including all these features is briefly described.

Copyright © 2012 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In