The Fractal Hand–I: A Non-anthropomorphic, but Synergistic, Adaptable Gripper
Joel W. Burdick,Malcolm Tisdale,Joel W. Burdick,Malcolm Tisdale
We introduce a novel Fractal Hand robotic gripper. The hand has only 1 actuator, but (2n+1 −1) joints, where a design parameter n defines the depth of the fingers’ tree structures. The hand is synergistic in its operation (because its joint movements are coupled through the hand’s interaction with the grasped object), but it is not anthropomorphic. The basic finger and hand geometry, governing kin...
