A model for the grasping analysis of an underactuated finger driven by unextensible tendon

A grasping analysis is presented of an underactuated finger driven by unextensible tendon. The finger itself is one of those of a mechanical prosthesis that was principally conceived as human prosthesis. After a brief description of the whole system constituted by the mechanical hand, the model to predict the behavior of the finger during the grasping is presented; then some examples of grasping are presented. The model can be useful for both the under-actuated finger design and for the prediction of the capabilities of the whole hand