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Robotics 2019, 8(2), 26;

A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers

BionIT Labs Company, Via A. Bortone, 73100 Lecce, Italy
Dipartimento di Ingegneria dell’Innovazione, Universita` del Salento, Via Arnesano, 73100 Lecce, Italy
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Zappatore, G.; Reina, G.; Messina, A. A proposed software framework for studying the grasp stability of underactuated fingers. In Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 September 2018; pp. 202–210.
Received: 29 December 2018 / Revised: 22 March 2019 / Accepted: 28 March 2019 / Published: 6 April 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
PDF [1857 KB, uploaded 6 April 2019]


In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantages compared to conventional solutions in terms of adaptivity, compactness, ease of control, and cost-effectiveness. However, limited attention has been devoted to the analysis of grasp performance. Some specific issues that need to be further investigated are, for example, the impact of the geometry of the fingers and the objects to be grasped and the value of the driving mechanical torques applied to the phalanges. This research proposes a software toolbox that is aimed to support a user towards an optimal design of underactuated fingers that satisfies stable and efficient grasp constraints.
Keywords: humanoid robotic hands; underactuated fingers; graphical user interface; grasp stability humanoid robotic hands; underactuated fingers; graphical user interface; grasp stability

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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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Zappatore, G.A.; Reina, G.; Messina, A. A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers. Robotics 2019, 8, 26.

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