On the Optimal Design of Underactuated Fingers Using Rolling Contact Joints
Why this work is in the frame
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Bibliographic record
Abstract
The design of underactuated fingers using rolling contact joints is addressed in this article in order to increase performance in robotic and prosthetic hands applications. Rolling contact joints have proven to be a promising alternative to revolute joints by increasing the range of motion, introducing compliance and decreasing internal friction. The conditions of optimal design for fingers using such joints are however not well stated. In order to fully exploit the potential of rolling-contact-joint based fingers, their design space is extended and performance metrics adapted to underactuated fingers are used in this letter. An optimization based on these metrics is performed over the large design space using genetic algorithms to find an optimal design. The solution obtained is then used to build a prototype and its performance is compared to that predicted by the model and to a comparative design using a realistic test bench.
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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