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Soft Driving Epicyclical Mechanism for Robotic Finger

Industrial and Mechatronic Departament, Universidad Militar Nueva Granada, Km 2 de la vía Cajicá-Zipaquirá, Cajicá 250547, Colombia
Author to whom correspondence should be addressed.
Actuators 2019, 8(3), 58;
Received: 2 April 2019 / Revised: 25 June 2019 / Accepted: 19 July 2019 / Published: 29 July 2019
Nowadays, the development or improvement of soft actuation mechanisms is a crucial topic for the achievement of dexterous manipulation using. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism. View Full-Text
Keywords: actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy
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Ramirez, J.; Rubiano, A.; Castiblanco, P. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators 2019, 8, 58.

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  • Externally hosted supplementary file 1
    Doi: 10.20944/preprints201904.0026.v1
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