Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-601-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-601-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
05 Nov 2024
Research article |  | 05 Nov 2024

Anthropomorphic modular gripper finger actuated by antagonistic wire and shape-memory alloy (SMA) springs

Longfei Sun, Yiwen Lan, and Binghao Wang

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Short summary
In order to better imitate the enveloping–grasping function of human fingers and control the grasping morphology of the fingers, a modular gripper is proposed to be controlled using a combined differential control of wires and shape-memory alloy (SMA) springs, and the gripper can actively adjust the grasping morphology of the fingers according to the characteristics of the shape and contour of the objects to be grasped so as to achieve stable and reliable grasping.
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