Abstract
Artificial hands should be able to perform preshaping and consequent adaptive grasps with high power, and the goals should be realized with a compact and light weighted actuation system to be attached to an arm. Underactuation in one approach to the issue, and several mechanism of such have been proposed. The paper proposes a design of underactuation for wire-driven anthropomorphic hands. Evaluation of actuator configurations within the hand, and the ability of preshaping and adaptive grasping are given.
