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From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms

Lionel Birglen

Article (2010)

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Abstract

In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably) oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing.
Subjects: 2100 Mechanical engineering > 2100 Mechanical engineering
Department: Department of Mechanical Engineering
Funders: CRSNG/NSERC, Fonds Québécois de la Recherche sur la Nature et les Technologies (FQRNT)
PolyPublie URL: https://publications.polymtl.ca/3401/
Journal Title: Mechanical Sciences (vol. 1, no. 1)
Publisher: Copernicus Publications
DOI: 10.5194/ms-1-5-2010
Official URL: https://doi.org/10.5194/ms-1-5-2010
Date Deposited: 10 Jan 2019 14:05
Last Modified: 11 Nov 2022 14:09
Cite in APA 7: Birglen, L. (2010). From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms. Mechanical Sciences, 1(1), 5-12. https://doi.org/10.5194/ms-1-5-2010

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