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A Novel Coupled and Self-adaptive Under-actuated Grasping Mode and the COSA-DTS Hand
[chapter]
2010
Lecture Notes in Computer Science
A novel category of humanoid robotic hands: COSA (Coupled and Self-Adaptive) hand is introduced in this paper. If a hand is called the COSA hand, which means that the fingers of the hand grasps objects with a special COSA grasping mode, which includes two processes, first is a coupled grasping process, then the second is a self-adaptive grasping process. The COSA grasping mode can take many advantages. A new COSA finger unit with double-tendon mechanism is designed based on the COSA function.
doi:10.1007/978-3-642-16584-9_6
fatcat:gvt4cbub3jh7vnei2fhxw7iia4