Effects of elasticity on an under-actuated tendon-driven robotic finger

Abstract

Under-actuated mechanisms with elastic elements have been used for realizing both pinching and power grasping of prosthetic hands. However, manipulation with these hands is merely discussed. This paper deals with a manipulation of an under-actuated robotic finger with an elastic element to validate the elastic effects on dynamic behaviors of this robotic finger. Especially, we focus on a pull-and-push motion of an object using this finger, evaluate the basic performance, and robustness of the sensor noises, and compare some configurations of elastic elements by simulations.