A Series Elastic, Compact Differential Mechanism: On the Development of Adaptive, Lightweight Robotic Grippers and Hands
Mojtaba Shahmohammadi,Minas Liarokapis,Mojtaba Shahmohammadi,Minas Liarokapis
Differential mechanisms allow the designers of robotic and prosthetic grippers and hands to create devices that require a minimal number of motors in order to grasp a plethora of everyday life objects, leading to light-weight, compact, and low-cost implementations. The working principle of differential mechanisms is simple. They allow the distribution of the forces exerted by a single actuator to ...
