This project is also available on OnShape
Underactuated Finger for Proprioceptive Tactile Sensing This page presents the design of a new sensorized underactuated self-adaptive finger. This design incorporates a two-degrees-of-freedom (DOF) link-driven underactuated mechanism with an embedded load cell for contact force measurement and a trimmer potentiometer for acquiring joint variables. The utilization of proprioceptive (i.e., internal) sensors results in tactile-like sensations in the finger without compromising the size and complexity of the proposed design. To obtain an optimum finger design, the placement of the load cell is analyzed using Finite Element Method (FEM). The design of the finger features a particular rounded shape of the distal phalanx and specific size ratio between the phalanxes to enable both precision and power grasps.
The design is initially introduced here: Mahyar Abdeetedal, Mehrdad R. Kermani, "Development and Grasp Analysis of a Sensorized Underactuated Finger," The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada. http://ieeexplore.ieee.org/document/8206538/
The full details of the design and grasp analysis are studied here: Mahyar Abdeetedal, Mehrdad R. Kermani, "Grasp and Stress Analysis of an Underactuated Finger for Proprioceptive Tactile Sensing," IEEE/ASME Transactions on Mechatronics. https://ieeexplore.ieee.org/abstract/document/8373740/
Use SolidWorks or Onshape (https://www.onshape.com/) to open !Finger.SLDASM
http://www.etedal.net/p/finger.html
- Watch this short video to see some of the features of the design: https://youtu.be/yruMRA9iLS8
@article{abdeetedal2018grasp,
title={Grasp and Stress Analysis of an Underactuated Finger for Proprioceptive Tactile Sensing},
author={Abdeetedal, Mahyar and Kermani, Mehrdad Radji},
journal={IEEE/ASME Transactions on Mechatronics},
volume={23},
number={4},
pages={1619--1629},
year={2018},
publisher={IEEE}
}