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COSA Finger: A Coupled and Self-Adaptive Under-actuated Unit for Humanoid Robotic Hand

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Social Robotics (ICSR 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6414))

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Abstract

Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on the COSA grasping mode. The new finger unit has the advantages of coupled finger and self-adaptive fingers. Using the COSA finger, a humanoid multi-fingered hand can be designed. The new hand will be more similar to human hand in appearance and actions, able to more dexterously and stably grasp different objects than tradition coupled or self-adaptive under-actuated hands.

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Author information

Authors and Affiliations

  1. Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jie Sun & Wenzeng Zhang

Authors
  1. Jie Sun
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  2. Wenzeng Zhang
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Editor information

Editors and Affiliations

  1. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  2. Institute for Infocomm Research, 21 Heng Mui Keng Terrace, 119613, Singapore

    Haizhou Li

  3. National University of Singapore, Singapore

    John-John Cabibihan

  4. Institute for Infocomm Research, Agency for Science, Technology and Research (A*Star),, 1 Fusionopolis Way, #08-05, Connexis (South Tower), Singapore

    Yeow Kee Tan

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© 2010 Springer-Verlag Berlin Heidelberg

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Sun, J., Zhang, W. (2010). COSA Finger: A Coupled and Self-Adaptive Under-actuated Unit for Humanoid Robotic Hand. In: Ge, S.S., Li, H., Cabibihan, JJ., Tan, Y.K. (eds) Social Robotics. ICSR 2010. Lecture Notes in Computer Science(), vol 6414. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17248-9_18

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  • DOI: https://doi.org/10.1007/978-3-642-17248-9_18

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17247-2

  • Online ISBN: 978-3-642-17248-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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