The PaCoMe Adaptive Mechanical Fingers: Transforming Industrial Grippers into Underactuated/Adaptive Hands

These adaptive passive mechanical fingers attach to classic grippers and transform them into underactuated, a.k.a. adaptive, hands. Simply replace the traditional monolithic jaws with a set of these fingers and you obtain an adaptive hand which can envelope any object. Same gripper, same control, same program. Automatic selection between enveloping and precision grasps is mechanically done depending on which phalanges are in contact with the object to grasp.

Video submission of the paper:
"Enhancing Versatility and Safety of Industrial Grippers with Adaptive Robotic Fingers," by Lionel Birglen, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 29112916. doi: 10.1109/IROS.2015.7353778
https://ieeexplore.ieee.org/document/...

Music by Wired Ant, Creative Commons License CC BY 3.0
http://creativecommons.org/licenses/b...