“Single-Motor Ultraflexible Robotic (SMUFR) Humanoid Hand” published on IEEE T-MRB

This paper introduces the SMUFR hand, a compliant and dexterous robotic humanoid hand powered by tendon-driven mechanisms, and features flexible beam-based bending joints serving as rotary joints with bidirectional bending compliance that ensure safety during human-robot interaction. Of particular note is the SMUFR hand’s lightweight and compact one-to-more actuation system, comprising six rotary pneumatic clutches (RPC) for six active Degrees of Freedom (DoFs), all powered by a single motor.
More details: doi.org/10.110...

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