Wang Long author Columbia University. Mechanical Engineering DelPreto Joseph Jeffrey author Columbia University. Electrical Engineering Weisz Jonathan author Columbia University. Computer Science Bhattacharyya Sam author Columbia University. Mechanical Engineering Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 2011 English This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape. Robotics Piscataway, N.J. IEEE 2011 1380 1385 http://dx.doi.org/10.1109/IROS.2011.6095147 http://hdl.handle.net/10022/AC:P:15081 NNC NNC 2012-10-25 12:59:50 -0400 2012-10-25 13:20:24 -0400 9079 eng