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.
 Jacobsen S C, Iversen E K, Knutti D F, et al. Design of the Utah/MIT dextrous hand[A]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation[C]. San Francisco, CA,USA: 1986. 1520 1532.  Diftler M A, Platt R, Culbert C J, et al. Evolution of the NASA/DARPA robonant control system[A]. Proceedings of the 2003 IEEE International Conference on Robotics and Automation [C]. Taipei:2003. 2543-2548.  Liu H, Butterfass J, Knoch S, et al. A new control strategy for DLR's multlsensory articulated hand [J]. IEEE Control Systems,1999, 19(2): 4754.  Loucks C S, et al. Modeling and control of the Stanford/JPL hand [A]. Proceedings of the 1987 IEEE Intematinal Conference on Robotics and Automation[C]. Raleigh, NC: 1987. 573 578.  Chappell P H, Kyberd P J. Prehensile control of a hand prosthesis by a microcontroller[J]. Biomedical Engineering, 1991, 13 (5): 363- 369.  Dechev N, Cleghorn W L , Naumann S. Multiple finger, passive adaptive grasp prosthetic hand[J]. Mechanism and Machine Theory,2001, 36(10): 1157 1173.  Light C M, Chappell P H. Development of a lightweight and adaptable multiple-axis hand prosthesis[J]. Medical Engineering and Physics, 2000, 22(10): 679684.  Laliberte T, Gosselin C M. Underactuation in space robotic hands [A]. Proceedings of the 6th International Symposium on Artificial and Robotics & Automation in Space: I-SAIRAS 2001, Canadian Space Agency[C]. St-Hubert, Quebec, Canada: 2001. 18-22.  Laliberte T, Birglen L, Gosselin C M. Underacutation in robotic gsasping hands[J]. Machine Intelligence & Robotic Control, 2002,4(3): 111.  Gao X-H, Jin M-H, Jiang L, et al. The HIT/DLR dexterous hand:work in progress [A]. Proceedings of the 2003 IEEE International Conference on Robotics and Automation[C]. 2003. 31643168.  Birglen L, Gosselin C M. On the force capability of underactuated fingers[A]. Proceedings of the 2003 IEEE International Conference on Robotics and Automation[C]. 2003. 1139 114.