Over the last decade underactuated, adaptive robot grippers and hands have received an increased interest from the robotics research community. This class of robotic end-effectors can be used in many different fields and scenarios with a very promising application being the development of prosthetic devices. Their suitability for the development of such devices is attributed to the utilization of underactuation that provides increased functionality and dexterity with reduced weight, cost, and control complexity. The most critical components of underactuated, adaptive hands that allow them to perform a broad set of grasp poses are appropriate differential mechanisms that facilitate the actuation of multiple degrees of freedom using a single motor. In this work, we focus on the design, analysis, and experimental validation of \hlr{a four output geared differential, a series elastic differential, and a whiffletree differential that can incorporate a series of manual and automated locking mechanisms. The locking mechanisms have been developed so as to enhance the control of the differential outputs, allowing for efficient grasp selection with a minimal set of actuators. The} differential mechanisms \hlr{are} applied to prosthetic hands, comparing them and describing the benefits and the disadvantages of each.

中文翻译：

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欠驱动、轻量、自适应假手的差动机制

在过去十年中，欠驱动的自适应机器人抓手和手越来越受到机器人研究界的关注。这类机器人末端执行器可用于许多不同的领域和场景，其中非常有前景的应用是假肢装置的开发。它们对开发此类设备的适用性归因于利用欠驱动提供增强的功能和灵巧性，同时减轻了重量、成本和控制复杂性。欠驱动、自适应手的最关键组成部分允许它们执行一系列广泛的抓握姿势，是适当的差分机制，有助于使用单个电机驱动多个自由度。在这项工作中，我们专注于设计、分析、\hlr{四输出齿轮差速器、串联弹性差速器和可以结合一系列手动和自动锁定机制的惠夫勒特里差速器的实验验证。已开发锁定机制以增强对差分输出的控制，允许使用最少的致动器组进行有效的抓握选择。} 不同机制 \hlr{} 应用于假手，比较它们并描述每个的优点和缺点。