史士财, 高晓辉, 姜力, 刘宏. 欠驱动自适应机器人手的研制[J]. 机器人, 2004, 26(6): 496-501..
SHI Shi-cai, GAO Xiao-hui, JIANG Li, LIU Hong . Development of the Underactuated Self-adaptive Robotic Hand. ROBOT, 2004, 26(6): 496-501..
Abstract：A novel five fingered robotic hand is developed based on underactuated adaptive theory, which has the similar size to that of an adult hand. The underactuated adaptive robotic hand has a simple mechanism and light weight. It has strongly adaptive speciality, and can be used as end effectors of humanoid robots and as the prosthetic hand. A quasi static model of a 3 DOF underactuated finger is built based on virtual power theory.
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