摘要
In previous work on manipulation with robotic hands, full actuated fingers were mainly used to replicate a natural human hand. However, fully actuated fingers face challenges in terms of high cost and complex control requirements. As a result, there has been an increasing interest in underactuated anthropomorphic fingers as a research focus. Since it is difficult to acquire precise models for the gripper, object, and contacts, manipulation with underactuated fingers is a challenging issue. This paper proposes strategies to improve the smoothness of the manipulation process and introduces new parameters to explicitly express the relations between object motion and actuator displacements. Through calibrated experiments, results have demonstrated that the proposed manipulation strategies are stable, and the expressions are realistic.