most citedUnderactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

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cs.RO2019★ 1 cited

Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

Tianjian Chen, Long Wang, Maximilan Haas-Heger +1

Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of…