Chapter 40 — Mobility and Manipulation

A compliant underactuated hand for robust manipulation

This video introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by five actuators which is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. Particular emphasis is placed on the development of underactuated fingers that are capable of both firm power grasps and low-stiffness fingertip grasps, using only the compliant mechanics of the fingers.
Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee, Nicholas Corson, Yaroslav Tenzer, Raymond R. Ma, Martin Buehler, Robert Kohout, Robert Howe, Aaron M. Dollar