Static Analysis of Single-Input/Multiple-Output Tendon-Driven Underactuated Mechanisms for Robotic Hands
Why this work is in the frame
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Bibliographic record
Abstract
Considering the many advantages of underactuation in anthropomorphic hands, such as lightness, ease of control and compactness, it is of interest to develop mechanisms that aim at achieving underactuation between the fingers. This paper presents several tendon-driven underactuated mechanisms that can drive four outputs from one input. These mechanisms could typically be used to drive four fingers of an underactuated hand from a single input. Among these mechanisms, some are built by combining one-input/two-output differential mechanisms, while others are fully integrated systems of pulleys. For each mechanism, a static analysis is presented. Then, a discussion based on the static analysis and experimentation on models highlights their strengths and weaknesses. Finally a new anthropomorphic hand used as an experimental platform to test these mechanisms is introduced.
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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) | 0.000 | 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