Abstract In this paper, we developed an underactuated robotic finger with three joints having a branching tendon mechanism and a sensing system to estimate the wrench applied to the fingertip based on the moment-equivalent point (MEP). We proposed the design to combine the branching tendon mechanism and the principle of wrench sensing based on the MEP. The proposed system realized the measurement of the wrench applied to the fingertip using a simple force sensor and a wire-driven system. Furthermore, we experimentally confirmed their functioning.

中文翻译：

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具有分支肌腱机制的机械手指的研制及基于力矩当量点的传感

摘要 在本文中，我们开发了一种欠驱动机器人手指，具有三个关节，具有分支肌腱机制和传感系统，用于基于力矩等效点 (MEP) 估计应用于指尖的扳手。我们提出了将分支肌腱机制和基于 MEP 的扳手传感原理相结合的设计。所提出的系统使用简单的力传感器和线驱动系统实现了施加到指尖的扳手的测量。此外，我们通过实验证实了它们的功能。