An Introduction to the Analysis of Linkage-Driven Compliant Underactuated Fingers
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Bibliographic record
Abstract
This paper presents an analysis of a two-phalanx linkage-driven underactuated finger with substantial compliance in all the joints of the system. The primary goal of the paper is to illustrate with an example, the theoretical issues faced in designing compliant underactuated fingers. To this aim, a two-phalanx linkage-driven underactuated finger is analyzed throughout the paper to clarify the concepts presented. First, a method to compute the contact forces generated by compliant underactuated fingers is presented and discussed. Finally, the self-mobility of the finger is discussed and a method to predict if this mobility will converge to a stable grasp or not is presented. The paper presents an exemplified theoretical analysis whose layout provides very useful insights for the design of compliant underactuated fingers and emphasizes the challenges to be met in order to design successful prototypes.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 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 it