This paper introduces a novel underactuated hand with seven-gear empty-trip mechanisms and built-in actuators, PASA-SEBA hand. The PASA-SEBA hand consists of 3 fingers and 6 degrees of freedom. The PASA-SEBA finger is able to perform parallel and self-adaptive grasping. Each PASA-SEBA finger consists of an actuator embedded into its middle phalange, a seven-gear empty-trip mechanism, and two springs. The mechanism realizes a hybrid grasping mode and multiple grasping postures as well as adapting the shapes, sizes, and dimensions of objects. Geometric and force analysis are given to get the force distribution and grasping process of the PASA-SEBA Hand, which indicates that the PASA-SEBA hand is reliable, adaptive, and efficient. PASA-SEBA hand is suitable for a wide arrange of grasping applications.
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