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A novel articulated mechanism mimicking the motion of index fingers

Published online by Cambridge University Press:  31 January 2002

Giorgio Figliolini  and
Marco Ceccarelli
Giorgio Figliolini
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY)[email protected]
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via G. Di Biasio, 43 – 03043 Cassino (FR), (ITALY)[email protected]
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Abstract

In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The formulation is based on a study of the design and operation of an index human finger. In particular, we have proposed a suitable mechanical design for an anthropomorphic finger as both an approximation of human architecture and an easy practical design. Kinematic characteristics are illustrated with numerical examples.

Keywords

RoboticsHandsArticulated fingersKinematic analysisDesign
Type
Research Article
Information
Robotica , Volume 20 , Issue 1 , January 2002 , pp. 13 - 22
Copyright
© 2002 Cambridge University Press

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