On the Design of an Adaptable Underactuated Hand using Rolling Contact Joints

This video presents the MACROS Hand : an underactuated prosthetic gripper optimized to maximize the distribution of contacts and the ability to hold objects. The hand has 17 degrees of freedom and only one degree of actuation, yielding a robust and simple control. Rolling contact joints are used inside the fingers and the palm to introduce compliance and reduce friction, making the hand impact resistant and fast. Their passive opening, specific to each joint, allows a gravity dependent closing sequence that increases the adaptation capabilities of the hand. The MACROS Hand can perform numerous grasps and tasks of everyday life, including picking up and flipping small objects lying on hard surfaces.
This work was supported by the Fonds de Recherche du Québec, Nature et Technologie (FRQNT), the Natural Sciences and Engineering Research Council of Canada (NSERC) and of the Canada Research Chair program.
Link to the paper: asmedigitalcol...

[@danlim777]

Excellent work. Gripper adaptive to different shaped objects is very impressive.

[@derkarhu5079]

do you have some documents describing the "rolling contact" joints?
the 'mother's comment was 'funny', but..is it correct that the single actuation applies forces to all of the joints, with compliances providing redistribution of the applied force?
paper coming soon?
nice...

[@robotics_lab_ulaval]

asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/15/5/051001/1146196/On-the-Design-of-an-Adaptable-Underactuated-Hand

[@Freegy1998]

Great, you made a bionic hand which requires only two hands to operate ^^