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Immobilizing grasps are those in which the object cannot be moved for a force up to a certain threshold. In general, underactuated hands cannot produce immobilizing grasps. However, we show that immobilizing grasps can be created by including joint limits in the hand design. We consider the effect of two design parameters on the grasp performance: torque ratio and finger-base distance. Results show that an optimal finger-base distance and torque ratio exists that maximizes the grasp range and grasp strength. Also, the immobilizing grasp range is increased by decreasing the finger-base distance and increasing the torque ratio and joint limits.<\/jats:p>","DOI":"10.1017\/s0263574722000601","type":"journal-article","created":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T11:49:00Z","timestamp":1653997740000},"page":"3769-3785","source":"Crossref","is-referenced-by-count":7,"title":["Effect of design parameters on strong and immobilizing grasps with an underactuated robotic hand"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4008-9551","authenticated-orcid":false,"given":"Roshan Kumar","family":"Hota","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7636-0625","authenticated-orcid":false,"given":"Cheruvu Siva","family":"Kumar","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,5,2]]},"reference":[{"key":"S0263574722000601_ref22","doi-asserted-by":"crossref","unstructured":"[22] Ciocarlie, M. and Allen, P. , \u201cA Design and Analysis Tool for Underactuated Compliant Hands,\u201d In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems (ICRA) (2009) pp. 5234\u20135239.","DOI":"10.1109\/IROS.2009.5354089"},{"key":"S0263574722000601_ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105003"},{"key":"S0263574722000601_ref15","doi-asserted-by":"crossref","unstructured":"[15] Krut, S. , \u201cA Force-Isotropic Underactuated Finger,\u201d In: IEEE International Conference on Robotics and Automation (ICRA), 2314\u20132319 (2005).","DOI":"10.1109\/ROBOT.2005.1570458"},{"key":"S0263574722000601_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.11.011"},{"key":"S0263574722000601_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002428"},{"key":"S0263574722000601_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913514466"},{"key":"S0263574722000601_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911401441"},{"key":"S0263574722000601_ref16","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac07f7"},{"key":"S0263574722000601_ref28","doi-asserted-by":"publisher","DOI":"10.1115\/1.4050382"},{"key":"S0263574722000601_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(78)90059-9"},{"key":"S0263574722000601_ref29","doi-asserted-by":"crossref","first-page":"104486","DOI":"10.1016\/j.mechmachtheory.2021.104486","article-title":"Evaluation of grasp capability of a gripper driven by optimal spherical mechanism","volume":"166","author":"Osman","year":"2021","journal-title":"Mech. 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