Notice of Retraction: A survey on underactuated mechanisms

Abstract

Underactuated mechanisms are mechanical systems with fewer control inputs than degrees of freedom. As this mechanism has many advantages such as light weight, low cost and low energy consumption, many researches have been focused on it in recent years with many valuable fruits. This paper is devoted to presenting the systemic review of the underactuated mechanisms in following aspects: principle, kinematics and dynamics, and controllability of underactuated mechanism. Finally, further research direction on underactuated mechanism is also discussed.

Coeffecient of Underactuated Mechanism (CoUAM): Novel Approach for Underactuated Mechanism of Myoelectric Hand Prosthesis

“…Without increasing an actuator, the finger can increase DOF's of a hand, then improve the stability of grasping objects and increase the personification of the hand. Different types of UAM are described by different authors but it was properly classified by He Bin et al (5) into 4 subtypes based on mechanism. …”

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

“…Different types of underactuated mechanisms are described by different authors but it was properly classified by He Bin et al [5] into 4 subtypes i.e. Differential, Compliant, Triggered and Passive Mechanism.…”

“…In myoelectric prosthetic hands these actuators are used to control number of degree of freedoms (DOFs). According to the International Federation for the Theory of Machines and Mechanisms (IFToMM) terminology [4], the degree of freedom (DOF) of a mechanism is the number of independent generalized coordinates required to define completely the configuration of a system at any instant of time [5,6].…”