Abstract
Ecole Polytechnique de MontrQuebec, Canada, 19 Au- gust 2010. The goals of the workshop were to share and expand our mutual knowledge; to identify avenues for the in- dustrial application of underactuated robotic hands; to iden- tify open issues in the theoretical framework; and to define new collaborative research questions. This issue contains 16 papers from this workshop, covering a wide range of as- pects in underactuated grasping. The emphasis is on new concepts and the design of fingers, robotic graspers and pros- thetic hands. The emphasis on design can be understood by the fact that the performance of underactuated hands is mainly determined by the mechanical design. To substantiate
Highlights
We are pleased to present a special issue on the theme of underactuated grasping, which relates to the notion of having fewer actuators than degrees of freedom in a mechanism, in this case a grasper
The challenge is to get a grip on the mechanics of underactuated graspers, such that their performance to grasp a wide variety of objects is exploited
This special issue is inspired by the First International Workshop on Underactuated Grasping that was organized at Ecole Polytechnique de Montreal, Quebec, Canada, 19 August 2010
Summary
We are pleased to present a special issue on the theme of underactuated grasping, which relates to the notion of having fewer actuators than degrees of freedom in a mechanism, in this case a grasper. The application of underactuation requires a mind shift to let go of the conventional full motion control paradigm. One gains a grasper that conforms itself to the objects due to its mechanics. The costs, weight and control effort of such graspers are reduced, because of the reduction of actuators. The challenge is to get a grip on the mechanics of underactuated graspers, such that their performance to grasp a wide variety of objects is exploited. By virtue of its potential simplicity and self-adaptability, underactuation in grasping has quietly progressed from an anecdotic topic and is currently perhaps the most promising source of innovative design in robotic hands
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