Danilo Troisi

Compliant Finger Joint with Controlled Variable Stiffness based on Twisted Strings Actuation

Underactuated tendon-driven fingers are a simple, yet effective solution, for realizing robotic grippers and hands. The lack of controllable degrees of actuation and precise sensing is compensated by the deformable structure of the finger, which is able to adapt to the objects to be grasped and mani…