Design of an underactuated robot hand based on displacement-force conversion mechanism

Hun Keon Ko, Chang Hee Cho, Hyo Chan Kwon, Kwon Hee Kim

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.

Original languageEnglish
Pages (from-to)509-516
Number of pages8
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number4
Publication statusPublished - 2012 Apr

Bibliographical note

Funding Information:
This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2011-0001144).


  • Compliance
  • Fingertip force
  • Grasping
  • Robot hand
  • Underactuated finger

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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