@inproceedings{480bae3c6b06416ea8beb4bf1bc650aa,
title = "A Two-Fingered Anthropomorphic Robotic Hand with Contact-Aided Cross Four-Bar Mechanisms as Finger Joints",
abstract = "This paper presents an anthropomorphic design of a robotic finger with contact-aided cross four-bar (CFB) linkages. Anatomical study shows that finger joints have a complex structure formed by non-symmetric surfaces and usually produce complex movement than a simple revolute motion. The articular system of human hand is firstly investigated. Kinematics of a CFB mechanism is then analyzed and computer aided design of fixed and moving centrodes of CFB mechanism is presented. Gripping analysis of human hand shows two easily ignored components of a finger, fingernail and soft fingertip. Based on the range of motion of the joints of the most flexible thumb finger, a two-joint anthropomorphic finger is developed by using contact-aided CFB linkages which can also be used for joint design of prosthetic knee. Prototype of a two-fingered hand is manufactured by using 3D printing technology and gripping of a wide range of objects is tested.",
keywords = "Anthropomorphic, Contact-aided, Cross four-bar, Robotic finger",
author = "Guochao Bai and Jieyu Wang and Xianwen Kong",
year = "2016",
doi = "10.1007/978-3-319-42417-0_3",
language = "English",
isbn = "9783319424163",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "28--39",
booktitle = "Biomimetic and Biohybrid Systems",
address = "United States",
note = "5th International Conference on Biomimetic and Biohybrid Systems 2016 : Living Machines ; Conference date: 19-07-2016 Through 22-07-2016",
}