English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Grasp synergies represent a useful idea to reduce grasping complexity withoutcompromising versatility. Synergies describe coordination patterns betweenjoints, either in terms of position (joint angles) or effort (joint torques).In both of these cases, a grasp synergy can be represented as a low-dimensionalmanifold lying in the high-dimensional joint posture or torque space. In thispaper, we use the term \textit{Mechanically Realizable Manifolds} to refer tothe subset of such manifolds (in either posture or torque space) that can beachieved via mechanical coupling of the joints in underactuated hands. Wepresent a method to optimize the design parameters of an underactuated hand inorder to shape the Mechanically Realizable Manifolds to fit a pre-defined setof desired grasps. Our method guarantees that the resulting synergies can bephysically implemented in an underactuated hand, and will enable the resultinghand to both reach the desired grasp postures and achieve quasistaticequilibrium while loading the grasps. We demonstrate this method on threeconcrete design examples motivated by a real use case, and evaluate and comparetheir performance in practice.

Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces