Geometric Design of Three-Phalanx Underactuated Fingers
Bibliographic record
Abstract
This paper studies the grasp stability of two classes of three-phalanx underactuated fingers with transmission mechanisms based on either linkages or tendons and pulleys. The concept of underactuation in robotic fingers—with fewer actuators than degrees of freedom—allows the hand to adjust itself to an irregularly shaped object without complex control strategy and sensors. With a n-phalanx finger, n contacts (one for each phalanx) are normally required to statically constrain the finger. However, some contact forces may be lacking due to either the transmission mechanism, or simply the object size and position. Thus, one may define an ith order equilibrium, when the finger is in static equilibrium with i missing contacts. In this paper, the case for which n=3 is studied with a particular emphasis on the cases for which i=1 and i=2. The fact that some contact forces do not appear or are negative, can lead in some cases to the ejection of the object from the hand, when no equilibrium configuration is achieved.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".