单驱动实现自适应抓握，结构更轻更紧凑。
Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing
- 同步腱绳设计让各关节联动，单电机驱动整根手指。
- 实测刚度达1200 N/m，误差仅1.0 mm（0.322%全长）。
- 适合轻量化多指机械手，尤其看重结构简化者。
腱绳驱动的欠驱动机器人手指通过减少执行器数量和简化机械结构，提升了灵巧操作能力。然而，在紧凑结构中同时实现高承载力与自适应柔顺性仍具挑战。本文提出一种欠驱动腱绳驱动手指（UTRF），采用同步腱绳布局，机械耦合所有关节并保持固定角速度比，使整根手指仅需一个执行器驱动。该方法显著减少多指手所需执行器数量，实现更轻、更紧凑结构，且不损失刚度或柔顺性。推导了手指的运动学与静力学模型，考虑腱绳弹性以预测结构刚度。制作单指原型并在静态载荷下测试，平均形变预测误差为1.0 mm（占总长度0.322%），在3 kg指尖载荷下测得刚度为1.2×10³ N/m。集成至五指机器人手（UTRF-RoboHand）后，可在多种场景下有效抓取物体，验证了该布线方式能实现可预测刚度与可靠抓握性能，且执行器数量最少。
原文摘要 · Abstract (English)
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a compact form remains challenging. This paper presents an under-actuated tendon-driven robotic finger (UTRF) featuring a synchronous tendon routing that mechanically couples all joints with fixed angular velocity ratios, enabling the entire finger to be actuated by a single actuator. This approach significantly reduces the number of actuators required in multi-finger hands, resulting in a lighter and more compact structure without sacrificing stiffness or compliance. The kinematic and static models of the finger are derived, incorporating tendon elasticity to predict structural stiffness. A single-finger prototype was fabricated and tested under static loading, showing an average deflection prediction error of 1.0 mm (0.322% of total finger length) and a measured stiffness of 1.2x10^3 N/m under a 3 kg tip load. Integration into a five-finger robotic hand (UTRF-RoboHand) demonstrates effective object manipulation across diverse scenarios, confirming that the proposed routing achieves predictable stiffness and reliable grasping performance with a minimal actuator count.
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