Bio-mimetic design of finger mechanism with contact aided compliant mechanism

Abstract: This paper presents a finger mechanism that mimics human finger motion with contact aided compliant mechanisms. The motion mimicking is done through well-known linkage synthesis theories, and is converted to a compliant mechanism to reduce the number of actuators and to achieve compactness. To achieve these goals, the design procedures, modeling methods and design criteria of the contact aided compliant mechanism are presented. [Copyright &y& Elsevier]