Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity.

In this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, we show how the model and its main properties can be exploited in the design phase, and we present an application for an underactuated tendon-driven gripper with a modular structure, in which the joint stiffness values are defined to obtain the desired equivalent stiffness and ki...