2 papers
cs.RO2026
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
Teng Yan, Jiongxu Chen, Teng Wang +5
Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under restoring-spring loading introduces configuration-dependent joint devi…
cs.RO2026
PHANTOM Hand
Teng Yan, Jiongxu Chen, Qixiang Hua +4
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their…