Open-source, affordable, modular, light-weight, underactuated robot hands

Agisilaos G. Zisimatos, Minas V. Liarokapis, Christoforos I. Mavrogiannis, Kostas J. Kyriakopoulos
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper we present a series of design directions for the development of affordable, modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily reproduced using off-the-shelf materials. The proposed robot hands, efficiently grasp a series of everyday life objects and are considered to be general purpose, as they can be used for various applications. The efficiency of the proposed robot hands has been experimentally validated through a series of
more » ... eries of experimental paradigms, involving: grasping of multiple everyday life objects with different geometries, myoelectric (EMG) control of the robot hands in grasping tasks, preliminary results on a grasping capable quadrotor and autonomous grasp planning under object position and shape uncertainties.
doi:10.1109/iros.2014.6943007 dblp:conf/iros/ZisimatosLMK14 fatcat:7ptizuog3fcxrapcfbuuote6lu