{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T06:52:51Z","timestamp":1769064771366,"version":"3.49.0"},"reference-count":10,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,5,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present recent work designing a mechanical robotic hand for self\u2010adaptive grasping, human\u2010like appearance, which can be used in a humanoid robot. Conventional robotic devices are relatively complex, large, cumbersome and difficult to be installed in a humanoid robot arm. Under\u2010actuated robot hands use less motors to drive more rotating joints, thus to simplify the mechanical structure, decrease the volume and weight and finally lower the difficulty of control and the cost.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A novel under\u2010actuated finger mechanism is designed, which is based on a gear\u2010rack mechanism, spring constraint and an active sleeve middle phalanx. The principle analyses of its self\u2010adaptive grasp and end power grasping are given. A new multi\u2010fingered hand named as TH\u20103R Hand is designed based on the finger.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The design finger mechanism can be used in a robotic hand to make the hand obtain more degrees of freedom (DOF) with fewer actuators, and good grasping function of shape adaptation, decrease the requirement of control system. TH\u20103R Hand has five fingers, 15 DOF. All fingers are similar. TH\u20103R Hand has many advantages: it is simple in structure, light in weight, easy to control and low in cost. TH\u20103R Hand can passively adapt different shapes and sizes of the grasped object. Experimental studies have demonstrated the self\u2010adaptation in grasping of the finger.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The implication of this research is that under\u2010actuated robotic hands are appropriate for the missions of grasping different objects. The limitation of the research to date is that issues of sensors, control, and communication have not yet been addressed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>Key technologies of the under\u2010actuated finger and TH\u20103R Hand, with self\u2010adaptive grasping, human\u2010like appearance and low\u2010cost lightweight, are feasible. These technologies have the potential to make a significant impact.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>These results present a self\u2010adaptive under\u2010actuated grasp concept and a humanoid robotic hand with under\u2010actuated gear\u2010rack mechanism.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910950522","type":"journal-article","created":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T10:56:58Z","timestamp":1241175418000},"page":"255-262","source":"Crossref","is-referenced-by-count":83,"title":["Super under\u2010actuated multi\u2010fingered mechanical hand with modular self\u2010adaptive gear\u2010rack mechanism"],"prefix":"10.1108","volume":"36","author":[{"given":"Wenzeng","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Demeng","family":"Che","sequence":"additional","affiliation":[]},{"given":"Hongbin","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Xiande","family":"Ma","sequence":"additional","affiliation":[]},{"given":"Qiang","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Dong","family":"Du","sequence":"additional","affiliation":[]},{"given":"Zhenguo","family":"Sun","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022020320373607600_b5","unstructured":"Birglen, L. and Gosselin, C.M. (2001), \u201cOptimally unstable underactuated gripper: synthesis and applications\u201d, Proceedings of the IDETC\/CIE ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, Philadelphia, PA, pp. 1\u20109."},{"key":"key2022020320373607600_b3","unstructured":"Butterfass, J., Grebenstein, M., Liu, H. and Hirzinger, G. (2001), \u201cDLR\u2010Hand II: next generation of a dexterous robot hand\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 109\u201014."},{"key":"key2022020320373607600_b2","doi-asserted-by":"crossref","unstructured":"Dubey, V.N. and Crowder, R.M. 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(2007), \u201cUnder\u2010actuated self\u2010adaptive artificial hand\u201d, Chinese Patent: CN 1292719C."},{"key":"key2022020320373607600_b4","doi-asserted-by":"crossref","unstructured":"Lovchik, C., Aldridge, H. and Diftler, M. (1999), \u201cDesign of the NASA Robonaut hand\u201d, Proceedings of the ASME Dynamics and Control Division, DSC, Vol. 67, American Society of Mechanical Engineers, New York, NY, pp. 813\u201030.","DOI":"10.1115\/IMECE1999-0113"},{"key":"key2022020320373607600_b8","unstructured":"Zhang, W., Chen, Q., Sun, Z. and Zhao, D. (2003), \u201cUnder\u2010actuated passive adaptive grasp humanoid robot hand with control of grasping force\u201d, Proceedings of IEEE International Conference on Robotics and Automation, IEEE Press, New York, NY, pp. 696\u2010701."},{"key":"key2022020320373607600_b9","unstructured":"Zhang, W., Chen, Q., Sun, Z. and Zhao, D. (2004), \u201cPassive adaptive grasp multi\u2010fingered humanoid robot hand with high under\u2010actuated function\u201d, IEEE International Conference on Robotics & Automation, USA, IEEE Press, New York, NY, pp. 2216\u201021."},{"key":"key2022020320373607600_frd1","doi-asserted-by":"crossref","unstructured":"Dollar, A.M. 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