Skip to main navigation menu Skip to main content Skip to site footer


Vol. 7 (2020)

Operation Capability Analysis and Experiments of Underactuated Compliant Multi-Fingered Hands

November 16, 2020


In this paper, operation capabilities of underactuated compliant robot hands have been investigated based on the shape stability analysis of underactuated compliant fingers and operation modes analysis of human hands. It is shown that the operation modes of robot hands can be classified into two major classes, namely, enveloping grasp mode and pinch mode. For the two operation modes, two principles are respectively presented with regard to the mechanical design issues of the underactuated robot hands. According to the principles presented in this paper, a robot hand prototype with four underactuated compliant fingers has been fabricated. On the robot hand prototype, enveloping grasp capability of underactuated compliant robot hands has been verified by many experiments. For precision operations, a proposition is presented and it is shown that the prototype should be further improved.


  1. Birglen L, Laliberte T, Gosselin C. Underactuated Robotic Hands. New York: Springer- Verlag 2008.
  2. Birglen L, Gosselin C. Kinetostatic analysis of underactuated fingers. IEEE Transactions on Robotics and Automation 2004; 20(2): 211-221.
  3. Birglen L, Gosselin CM. Grasp-state plane analysis of twophalanx underactuated fingers. Mechanism and Machine Theory 2006; 41: 807-822.
  4. Licheng W, Carbone G, Ceccarelli M. Designing an underactuated mechanism for a 1 active DOF finger operation. Mechanism and Machine Theory 2009; 44: 336- 348.
  5. Krut S, Begoc V, Dombre E, Pierrot F. Extension of the Form-Closure Property to Underactuated Hands. IEEE Transactions on Robotics 2010; 26(5): 853-866.
  6. Prattichizzo D, Malvezzi M, Gabiccini M, Bicch A. On the manipulability ellipsoids of underactuated robotic hands with compliance. Robotics and Autonomous Systems 2012; 60: 337-346.
  7. Kragten GA, van der Helm FCT, Herder JL. A planar geometric design approach for a large grasp range in underactuated hands. Mechanism and Machine Theory 2011; 46: 1121-1136.
  8. Kragten GA, Herder JL. The ability of underactuated hands to grasp and hold objects. Mechanism and Machine Theory 2010; 45: 408-425.
  9. Touvet F, Daoud N, Gazeau J-P, Zeghloul S, Maier MA, Eskiizmirliler S. A biomimetic reach and grasp approach for mechanical hands. Robotics and Autonomous Systems 2012; 60: 473-486.
  10. Kragten GA, Baril M, Gosselin C, Herder J. Stable Precision Grasps by Underactuated Grippers. IEEE Transactions on Robotics 2011; 27(6): 1056-1066.
  11. He G, Wang Z, Zhang J, Geng Z. Characteristics analysis and Stabilization of a planar 2R underactuated Manipulator Robitica 2014.
  12. Adamek T, Kitts CA, Mas I. Gradient-Based Cluster Space Navigation for Autonomous Surface Vessels. IEEE/ASME Transactions on Mechatronics 2015; 20(2): 506-508.
  13. Schultz G, Mombaur K. Modeling and Optimal Control of Human-Like Running. IEEE/ASME Transactions on Mechatronics 2010; 15(5): 783-792.
  14. He G, Geng Z. Dynamics and Robust Control of an underactuated torsional Vibratory Gyroscope Actuated by Electrostatic Actuator. IEEE/ASME Transactions on Mechatronics 2014.
  15. Murray RM, Li Z, Sastry SS. A Mathematical Introduction to Robotic Manipulation, London: CRC Press 1994.
  16. He G, Zhang C, Sun W, Geng Z. Stabilizing the SecondOrder Nonholonomic Systems with Chained Form by FiniteTime Stabilizing Controllers. Robotica 2015.
  17. Ozaw R, Kobayashi H, Hashirii K. Analysis, Classification, and Design of Tendon-Driven Mechanisms. IEEE Transactions on Robotics 2014; 30(2): 396-410.
  18. Peerdeman B, Valori M, Brouwer D, Hekman E, Misra S, Stramigioli S. UT hand I: A lock-based underactuated hand prosthesis. Mechanism and Machine Theory 2014; 78: 307- 323.
  19. Mattar E. A survey of bio-inspired robotics hands implementation: new directions in dexterous manipulation. Robotics and Autonomous Systems 2013; 61: 517-544.
  20. Yang D, Zhao J, Gu Y, Wang X, Li N, Jiang L, Liu H, Huang H, Zhao D. An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals. Journal of Bionic Engineering 2009; 6: 255-263.
  21. Zollo L, Roccella S, Guglielmelli E, Chiara Carrozza M, Dario P. Biomechatronic Design and Control of an Anthropomorphic Artificial Hand for Prosthetic and Robotic Applications. IEEE/ASME Transactions on Mechatronics 2007; 12(4): 418-429.
  22. Klingenberg W. A course in differential geometry, New York: Springer-Verlag 1978.
  23. Odhner LU, Ma RR, Dollar AM. Open-Loop Precision Grasping With Underactuated Hands Inspired by a Human Manipulation Strategy. IEEE Transactions on Automation Science and Engineering 2013; 10(3): 525-633.