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In addition, by locking and unlocking joints, the hand can adopt configurations and grasp sequences that would otherwise require a fully actuated solution. Other features of the hand include an integrated sensing suite that uses a common transduction technology on flexible printed circuits for tactile and proprioceptive sensing. The hand is analyzed using a three-dimensional rigid body analysis package with efficient simulation of compliant mechanisms and contacts with friction. This package allows one to evaluate design tradeoffs among link lengths, required tendon tensions, spring stiffnesses and braking requirements to grasp and hold a wide range of objects. Results of grasping and pullout tests confirm the utility of the simulations.<\/jats:p>","DOI":"10.1177\/0278364913518997","type":"journal-article","created":{"date-parts":[[2014,2,20]],"date-time":"2014-02-20T21:45:11Z","timestamp":1392932711000},"page":"721-735","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":151,"title":["Design and testing of a selectively compliant underactuated hand"],"prefix":"10.1177","volume":"33","author":[{"given":"Daniel M.","family":"Aukes","sequence":"first","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Barrett","family":"Heyneman","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Ulmen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hannah","family":"Stuart","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mark R.","family":"Cutkosky","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Susan","family":"Kim","sequence":"additional","affiliation":[{"name":"SRI International, Menlo Park, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pablo","family":"Garcia","sequence":"additional","affiliation":[{"name":"SRI International, Menlo Park, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aaron","family":"Edsinger","sequence":"additional","affiliation":[{"name":"Meka Robotics, San Francisco, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2014,2,20]]},"reference":[{"key":"bibr1-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008292328909"},{"key":"bibr2-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/70.86082"},{"key":"bibr3-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095078"},{"key":"bibr4-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224738"},{"key":"bibr5-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094607"},{"key":"bibr6-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363104"},{"key":"bibr7-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/70.897777"},{"key":"bibr8-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2011.0152"},{"key":"bibr9-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"bibr10-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1115\/1.3046139"},{"key":"bibr11-0278364913518997","doi-asserted-by":"publisher","DOI":"10.5194\/ms-2-41-2011"},{"key":"bibr12-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77459-4"},{"key":"bibr13-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/MFI.2008.4648033"},{"key":"bibr14-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2012.6651492"},{"key":"bibr15-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354089"},{"key":"bibr16-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"bibr17-0278364913518997","doi-asserted-by":"publisher","DOI":"10.5194\/ms-2-17-2011"},{"key":"bibr18-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/70.34763"},{"key":"bibr19-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_20"},{"key":"bibr20-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152301"},{"key":"bibr21-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.871090"},{"key":"bibr22-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909360852"},{"key":"bibr23-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911401441"},{"key":"bibr24-0278364913518997","volume-title":"Algorithmic Foundations of Robotics IX","volume":"68","author":"Drumwright E","year":"2011"},{"key":"bibr25-0278364913518997","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9244-1"},{"key":"bibr26-0278364913518997","unstructured":"Gosselin C, Lalibert\u00e9 T (1998) Underactuated mechanical finger with return actuation. 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