Underactuated Hand

Underactuated hands are robotic hands designed with fewer actuators than degrees of freedom, aiming to achieve dexterity and adaptability with simplified, often low-cost designs. Current research emphasizes optimizing their design through evolutionary computation algorithms like genetic algorithms and the Big Bang-Big Crunch algorithm to maximize force transmission and minimize actuator strain, while also exploring innovative tendon-driven mechanisms and 3D-printed tactile sensors for improved grasp control and object recognition. This research is significant for advancing robotics in areas like exoskeleton design and humanoid robots, enabling more robust, adaptable, and affordable robotic manipulation.