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The model is validated against in vitro human finger data, and its behavior is examined with respect to select physiological parameters. The results point to clear benefits of incorporating friction in tendon-driven robotic fingers for actuator mass and output force. If it is indeed the case that the majority of high-load hand grasps are posteccentric, there is a clear benefit of incorporating friction in tendon-driven prosthetic hand replacements. <\/jats:p>","DOI":"10.1162\/artl_a_00087","type":"journal-article","created":{"date-parts":[[2012,11,27]],"date-time":"2012-11-27T14:33:57Z","timestamp":1354026837000},"page":"149-169","source":"Crossref","is-referenced-by-count":5,"title":["Modeling the Frictional Interaction in the Tendon-Pulley System of the Human Finger for Use in Robotics"],"prefix":"10.1162","volume":"19","author":[{"given":"Konstantinos","family":"Dermitzakis","sequence":"first","affiliation":[{"name":"University of Zurich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco Roberto","family":"Morales","sequence":"additional","affiliation":[{"name":"ETH Zurich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andreas","family":"Schweizer","sequence":"additional","affiliation":[{"name":"Uniklinik Balgrist"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"281","reference":[{"key":"R1","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(79)90163-5"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(94)90209-7"},{"key":"R3","doi-asserted-by":"publisher","DOI":"10.1097\/01.blo.0000171542.53342.46"},{"key":"R5","doi-asserted-by":"publisher","DOI":"10.1109\/10.1348"},{"key":"R6","doi-asserted-by":"publisher","DOI":"10.1097\/PHM.0b013e3181587f6c"},{"key":"R7","volume-title":"Clinical mechanics of the hand.","author":"Brand P. 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