October 13, 2025Open Access

Tendon-Based Proprioception in an Anthropomorphic Underactuated Robotic Hand with Series Elastic Actuators

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Tendon-based proprioception enables enhanced situational awareness in robotic hands, improving manipulation efficiency.
Series elastic actuators contribute to accurate sensing of joint angles and object stiffness, supporting robust grasping.
The system estimates key variables such as contact timing and finger configuration, facilitating safe handling of deformable objects.
Experiments confirm the effectiveness of the approach for blind grasping without reliance on vision or tactile feedback.

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Implication

This research demonstrates improved grasp functionalities in anthropomorphic robotic hands using tendon-based proprioception and series elastic actuators, indicating enhanced manipulation capabilities.

Cite This Study

Lee et al. (2025) studied this question.

synapsesocial.com/papers/68ed1896f29694dd1da78bc9 https://doi.org/10.48550/arxiv.2509.12969

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Tendon-Based Proprioception in an Anthropomorphic Underactuated Robotic Hand with Series Elastic Actuators

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Discussion

Implication

Cite This Study

Tendon-Based Proprioception in an Anthropomorphic Underactuated Robotic Hand with Series Elastic Actuators

Key Points

Discussion

Implication

Cite This Study