Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers

摘要

In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a complianthand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic jointsand predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed.Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting theconfiguration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each fingerjoint.