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dc.contributor.author Bandara, DSV
dc.contributor.author Gopura, RARC
dc.contributor.author Kajanthan, G
dc.contributor.author Brunthavan, M
dc.contributor.author Abeynayake, HIMM
dc.date.accessioned 2018-09-28T23:14:06Z
dc.date.available 2018-09-28T23:14:06Z
dc.identifier.uri http://dl.lib.mrt.ac.lk/handle/123/13598
dc.description.abstract Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism.Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms. en_US
dc.language.iso en en_US
dc.subject finger mechanism, hand prosthesis, underactuation, linkage mechanism, grasping adaptation. en_US
dc.title An Under-actuated mechanism for a robotic finger en_US
dc.type Conference-Abstract en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Mechanical Engineering en_US
dc.identifier.year 2014 en_US
dc.identifier.conference 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems en_US
dc.identifier.place Hong Kong en_US
dc.identifier.pgnos pp. 407 - 412 en_US
dc.identifier.email sanjaya@mech.mrt.ac.lk en_US
dc.identifier.email gopura@mech.mrt.ac.lk en_US
dc.identifier.email sgkajanthan@hotmail.com en_US
dc.identifier.email mbrunthavan@yahoo.com en_US
dc.identifier.email malinda86@gmail.com en_US
dc.identifier.doi 10.1109/CYBER.2014.6917498 en_US


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