A Simplified Grasping Strategy for Under-Driven Dexterous Hand Based on Geometric Structure

In the field of grasping strategies for under-driven dexterous hands, intricate dynamic modeling is crucial to build the relationship between motor input currents and fingertip output forces. Compared with previous study, this study simplified the dynamics modeling, which only needs to build kinematics model and creates the grasping strategy based on geometric structure of the object. Future work envisions shapebased object classification, resulting in customized gripping strategies and a library of geometry-specific gripping methods.