Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces

Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both of these cases, a grasp synergy can be represented as a low-dimensional manifold lying in the high-dimensional joint posture or torque space. In this article, we...