A new under-actuated robot finger with passive adaptive grasping and its application to rehabilitation

Abstract

This paper present a novel under-actuated robot finger mechanism, which has three phalanges and similar to a human finger with the capacity of easily arranging in multi series to realize a robot hand. The advantage of proposed finger is obtain more Degree-Of-Freedom (DOF) with less actuators and self-adaptive functionality under real life grasping without need for sensor feed back. The structure of proposed robot finger is briefly described and real world grasping experiment and its application to rehabilitation is also given.