The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embed...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-12-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2076-0825/5/1/1 |
| _version_ | 1818339751711735808 |
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| author | Mahmoud Tavakoli Rafael Batista Lucio Sgrigna |
| author_facet | Mahmoud Tavakoli Rafael Batista Lucio Sgrigna |
| author_sort | Mahmoud Tavakoli |
| collection | DOAJ |
| description | In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor. |
| first_indexed | 2024-12-13T15:31:59Z |
| format | Article |
| id | doaj.art-98862dc2193f4302a9af9a826686e851 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-13T15:31:59Z |
| publishDate | 2015-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-98862dc2193f4302a9af9a826686e8512022-12-21T23:40:09ZengMDPI AGActuators2076-08252015-12-0151110.3390/act5010001act5010001The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation SystemMahmoud Tavakoli0Rafael Batista1Lucio Sgrigna2Institute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalInstitute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalInstitute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalIn this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.http://www.mdpi.com/2076-0825/5/1/1twisted stringprosthetic handsoft robotsoft handsoft bionics |
| spellingShingle | Mahmoud Tavakoli Rafael Batista Lucio Sgrigna The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System Actuators twisted string prosthetic hand soft robot soft hand soft bionics |
| title | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System |
| title_full | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System |
| title_fullStr | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System |
| title_full_unstemmed | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System |
| title_short | The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System |
| title_sort | uc softhand light weight adaptive bionic hand with a compact twisted string actuation system |
| topic | twisted string prosthetic hand soft robot soft hand soft bionics |
| url | http://www.mdpi.com/2076-0825/5/1/1 |
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