Kinematic design of a planar and spherical mechanism for the abduction of the fingers of an anthropomorphic robotic Hand
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Bibliographic record
Abstract
This paper presents the kinematic design of an abduction mechanism for the fingers of an anthropomorphic robotic hand. This mechanism enhances the range of feasible grasps of the underactuated hand without significantly increasing its complexity. Two architectures are investigated: one is purely planar while the other uses a spherical mechanism in conjunction with a planar linkage. The analysis of the planar mechanism between the index finger and the third finger is first assessed, in which the parameters are determined in order to satisfy the constraints on the motion ranges while minimizing the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized, followed by the analysis of the spherical mechanism. Finally, prototypes of the fingers' abduction systems using the two proposed architectures are presented.
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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 | 0.000 |
| 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) | 0.000 | 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