Jaehyun Yi

Underactuated Robotic Gripper With Fiber-Optic Force Sensing Tendons

We present a novel design for a multi-fingered robotic gripper, featuring underactuation and fiber-optically sensorized tendons for force sensing, inspired by the Golgi tendon organs found in biological muscles. Our robotic gripper comprises three rigid fingers, each with three joints: the metacarpo