A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied with mechanical intelligence principles carefully designed and embedded such that optimal trajectories for grabbing are naturally followed and the fingers can automatically conform to the goal object. A generalizable potential energy flow theory is then proposed to explain the mechanism behind the mechanical intelligence. The theory is also supported by experimental results. Quasi-direct drive actuators were developed to actuate the robotic hand with proprioceptive force sensing and inherent compliance. The hand performs delicate force-controlled manipulation with a simple compliance controller implemented.

中文翻译：

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灵巧性、敏感性和多功能性：具有机械智能和本体感受驱动的欠驱动机械手

开发和测试了具有灵巧力控制和固有顺应性的三指下驱动机器人手。生成并应用了经过精心设计和嵌入的机械智能原理的简化仿生手指设计，从而自然地遵循最佳抓取轨迹，并且手指可以自动符合目标对象。然后提出了一种可推广的势能流理论来解释机械智能背后的机制。该理论也得到实验结果的支持。准直接驱动致动器被开发用于通过本体感受力感应和固有顺应性来驱动机器人手。手通过一个简单的柔顺控制器执行精细的力控制操作。