Abstract
Power grasp can hold an object much safer than precision grasp, e.g. pinching grasp, can do against disturbance forces applied to the grasped object. Nevertheless, it easily becomes unstable for impulsive disturbance forces and may drop or even crush the grasped object if the hand does not have suitable compliance. Now, it is known that a tendon-driven robotic mechanism can adjust the joint mechanical elasticity by controlling the extension (pulling) force of tendons. In this paper we investigate elasticity adjustable area with respect to the power grasped object with a tendon-driven robotic hand. After intorducing basic results about tendon-driven robotic machanisms, We formulate the elastic matrix with respect to an object grasped with a tendon-driven robotic hand. After this, we present the elasticity adjustable area numerically for a planar two finger robotic hand and show some experimental results.
