Léonie Plancoulaine

Design and stability analysis of an underactuated hand with passively rotating fingers

Léonie Plancoulaine, Sylvain Guégan, Franck Plestan, Damien Chablat

This paper presents an innovative design and stability analysis of an underactuated robotic finger with spatial mobility, designed to enhance gripping dexterity in robotic hands. The finger architecture incorporates a revolute joint at its base, enabling passive spatial rotation…Read more