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Actuators 2016, 5(1), 1; doi:10.3390/act5010001

The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

Institute of Systems and Robotics, University of Coimbra, 3030 Coimbra, Portugal
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Academic Editor: Delbert Tesar
Received: 20 October 2015 / Revised: 14 December 2015 / Accepted: 17 December 2015 / Published: 23 December 2015
(This article belongs to the Special Issue Feature Papers)
View Full-Text   |   Download PDF [15313 KB, uploaded 23 December 2015]   |  

Abstract

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. View Full-Text
Keywords: twisted string; prosthetic hand; soft robot; soft hand; soft bionics twisted string; prosthetic hand; soft robot; soft hand; soft bionics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Tavakoli, M.; Batista, R.; Sgrigna, L. The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System. Actuators 2016, 5, 1.

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