A simple design rule for 1st order form-closure of underactuated hands

Krut, S.; Bégoc, V.

doi:10.5194/ms-2-1-2011

Articles | Volume 2, issue 1

https://doi.org/10.5194/ms-2-1-2011

© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue:

Underactuated Grasping

https://doi.org/10.5194/ms-2-1-2011

© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Articles | Volume 2, issue 1

08 Feb 2011

| 08 Feb 2011

A simple design rule for 1st order form-closure of underactuated hands

S. Krut and V. Bégoc

Viewed

Total article views: 1,942 (including HTML, PDF, and XML)

HTML	PDF	XML	Total	BibTeX	EndNote
1,001	807	134	1,942	131	194

HTML: 1,001
PDF: 807
XML: 134
Total: 1,942
BibTeX: 131
EndNote: 194

Views and downloads (calculated since 01 Feb 2013)

Month	HTML	PDF	XML	Total
Feb 2013	5	7	1	13
Mar 2013	3	2	1	6
Apr 2013	2	12	0	14
May 2013	4	6	0	10
Jun 2013	7	6	3	16
Jul 2013	2	4	3	9
Aug 2013	9	4	0	13
Sep 2013	1	3	0	4
Oct 2013	9	9	1	19
Nov 2013	2	9	3	14
Dec 2013	4	3	2	9
Jan 2014	3	3	4	10
Feb 2014	4	11	2	17
Mar 2014	9	10	2	21
Apr 2014	2	21	2	25
May 2014	2	0	2
Jun 2014	4	5	3	12
Jul 2014	5	11	0	16
Aug 2014	10	17	6	33
Sep 2014	5	16	0	21
Oct 2014	7	7	0	14
Nov 2014	2	5	0	7
Dec 2014	2	9	2	13
Jan 2015	3	3	1	7
Feb 2015	1	2	1	4
Mar 2015	10	5	2	17
Apr 2015	3	0	3
May 2015	3	3	2	8
Jun 2015	21	5	0	26
Jul 2015	14	3	0	17
Aug 2015	6	4	0	10
Sep 2015	7	2	0	9
Oct 2015	11	7	1	19
Nov 2015	13	5	0	18
Dec 2015	2	2	0	4
Jan 2016	1	2	0	3
Feb 2016	1	6	1	8
Mar 2016	4	4	1	9
Apr 2016	2	0	2
May 2016	1	1	0	2
Jun 2016	3	4	0	7
Jul 2016	1	1	2
Aug 2016	1	1	0	2
Sep 2016	2	1	0	3
Oct 2016	1	4	1	6
Nov 2016	0
Dec 2016	3	3	0	6
Jan 2017	3	6	0	9
Feb 2017	2	2	0	4
Mar 2017	3	8	1	12
Apr 2017	3	6	1	10
May 2017	7	3	2	12
Jun 2017	2	2	0	4
Jul 2017	1	3	0	4
Aug 2017	2	3	1	6
Sep 2017	3	4	0	7
Oct 2017	0
Nov 2017	3	3	0	6
Dec 2017	3	4	0	7
Jan 2018	8	9	1	18
Feb 2018	8	3	4	15
Mar 2018	4	4	0	8
Apr 2018	2	2	0	4
May 2018	2	5	0	7
Jun 2018	2	2	0	4
Jul 2018	3	4	1	8
Aug 2018	9	8	1	18
Sep 2018	8	7	1	16
Oct 2018	10	4	0	14
Nov 2018	10	7	0	17
Dec 2018	7	4	1	12
Jan 2019	5	5	0	10
Feb 2019	9	6	0	15
Mar 2019	10	4	0	14
Apr 2019	6	6	0	12
May 2019	2	5	1	8
Jun 2019	3	5	0	8
Jul 2019	7	6	1	14
Aug 2019	4	5	0	9
Sep 2019	2	2	0	4
Oct 2019	2	3	1	6
Nov 2019	4	3	0	7
Dec 2019	5	2	0	7
Jan 2020	6	2	0	8
Feb 2020	6	5	0	11
Mar 2020	3	4	0	7
Apr 2020	2	4	0	6
May 2020	1	5	0	6
Jun 2020	28	6	1	35
Jul 2020	22	12	11	45
Aug 2020	1	4	4	9
Sep 2020	10	2	0	12
Oct 2020	5	6	1	12
Nov 2020	1	2	0	3
Dec 2020	5	5	0	10
Jan 2021	14	4	0	18
Feb 2021	5	1	0	6
Mar 2021	6	7	0	13
Apr 2021	4	1	0	5
May 2021	6	2	1	9
Jun 2021	8	3	0	11
Jul 2021	4	6	0	10
Aug 2021	12	4	0	16
Sep 2021	8	7	0	15
Oct 2021	4	19	0	23
Nov 2021	4	12	0	16
Dec 2021	11	3	1	15
Jan 2022	7	7	0	14
Feb 2022	6	4	1	11
Mar 2022	7	3	0	10
Apr 2022	2	0	2
May 2022	2	2	0	4
Jun 2022	3	0	3
Jul 2022	3	3	0	6
Aug 2022	6	5	0	11
Sep 2022	4	3	1	8
Oct 2022	3	4	0	7
Nov 2022	7	5	0	12
Dec 2022	4	5	0	9
Jan 2023	4	4	0	8
Feb 2023	10	6	1	17
Mar 2023	5	5	0	10
Apr 2023	1	2	0	3
May 2023	3	5	0	8
Jun 2023	1	2	1	4
Jul 2023	3	6	0	9
Aug 2023	1	4	0	5
Sep 2023	3	5	0	8
Oct 2023	3	4	0	7
Nov 2023	1	0	1
Dec 2023	3	1	0	4
Jan 2024	5	3	0	8
Feb 2024	7	4	1	12
Mar 2024	4	7	1	12
Apr 2024	18	5	4	27
May 2024	8	2	0	10
Jun 2024	12	5	2	19
Jul 2024	16	4	2	22
Aug 2024	22	4	1	27
Sep 2024	6	3	0	9
Oct 2024	11	3	2	16
Nov 2024	3	1	4
Dec 2024	5	5	3	13
Jan 2025	4	4	1	9
Feb 2025	11	5	0	16
Mar 2025	7	4	3	14
Apr 2025	4	4	0	8
May 2025	6	4	1	11
Jun 2025	17	12	4	33
Jul 2025	19	8	0	27
Aug 2025	14	7	2	23
Sep 2025	29	8	1	38
Oct 2025	22	11	4	37
Nov 2025	29	27	2	58
Dec 2025	12	12	1	25
Jan 2026	20	12	4	36
Feb 2026	22	12	4	38
Mar 2026	18	11	4	33
Apr 2026	5	4	0	9

Cumulative views and downloads (calculated since 01 Feb 2013)

Month	HTML	PDF	XML	Total
Feb 2013	5	7	1	13
Mar 2013	3	2	1	6
Apr 2013	2	12	0	14
May 2013	4	6	0	10
Jun 2013	7	6	3	16
Jul 2013	2	4	3	9
Aug 2013	9	4	0	13
Sep 2013	1	3	0	4
Oct 2013	9	9	1	19
Nov 2013	2	9	3	14
Dec 2013	4	3	2	9
Jan 2014	3	3	4	10
Feb 2014	4	11	2	17
Mar 2014	9	10	2	21
Apr 2014	2	21	2	25
May 2014	2	0	2
Jun 2014	4	5	3	12
Jul 2014	5	11	0	16
Aug 2014	10	17	6	33
Sep 2014	5	16	0	21
Oct 2014	7	7	0	14
Nov 2014	2	5	0	7
Dec 2014	2	9	2	13
Jan 2015	3	3	1	7
Feb 2015	1	2	1	4
Mar 2015	10	5	2	17
Apr 2015	3	0	3
May 2015	3	3	2	8
Jun 2015	21	5	0	26
Jul 2015	14	3	0	17
Aug 2015	6	4	0	10
Sep 2015	7	2	0	9
Oct 2015	11	7	1	19
Nov 2015	13	5	0	18
Dec 2015	2	2	0	4
Jan 2016	1	2	0	3
Feb 2016	1	6	1	8
Mar 2016	4	4	1	9
Apr 2016	2	0	2
May 2016	1	1	0	2
Jun 2016	3	4	0	7
Jul 2016	1	1	2
Aug 2016	1	1	0	2
Sep 2016	2	1	0	3
Oct 2016	1	4	1	6
Nov 2016	0
Dec 2016	3	3	0	6
Jan 2017	3	6	0	9
Feb 2017	2	2	0	4
Mar 2017	3	8	1	12
Apr 2017	3	6	1	10
May 2017	7	3	2	12
Jun 2017	2	2	0	4
Jul 2017	1	3	0	4
Aug 2017	2	3	1	6
Sep 2017	3	4	0	7
Oct 2017	0
Nov 2017	3	3	0	6
Dec 2017	3	4	0	7
Jan 2018	8	9	1	18
Feb 2018	8	3	4	15
Mar 2018	4	4	0	8
Apr 2018	2	2	0	4
May 2018	2	5	0	7
Jun 2018	2	2	0	4
Jul 2018	3	4	1	8
Aug 2018	9	8	1	18
Sep 2018	8	7	1	16
Oct 2018	10	4	0	14
Nov 2018	10	7	0	17
Dec 2018	7	4	1	12
Jan 2019	5	5	0	10
Feb 2019	9	6	0	15
Mar 2019	10	4	0	14
Apr 2019	6	6	0	12
May 2019	2	5	1	8
Jun 2019	3	5	0	8
Jul 2019	7	6	1	14
Aug 2019	4	5	0	9
Sep 2019	2	2	0	4
Oct 2019	2	3	1	6
Nov 2019	4	3	0	7
Dec 2019	5	2	0	7
Jan 2020	6	2	0	8
Feb 2020	6	5	0	11
Mar 2020	3	4	0	7
Apr 2020	2	4	0	6
May 2020	1	5	0	6
Jun 2020	28	6	1	35
Jul 2020	22	12	11	45
Aug 2020	1	4	4	9
Sep 2020	10	2	0	12
Oct 2020	5	6	1	12
Nov 2020	1	2	0	3
Dec 2020	5	5	0	10
Jan 2021	14	4	0	18
Feb 2021	5	1	0	6
Mar 2021	6	7	0	13
Apr 2021	4	1	0	5
May 2021	6	2	1	9
Jun 2021	8	3	0	11
Jul 2021	4	6	0	10
Aug 2021	12	4	0	16
Sep 2021	8	7	0	15
Oct 2021	4	19	0	23
Nov 2021	4	12	0	16
Dec 2021	11	3	1	15
Jan 2022	7	7	0	14
Feb 2022	6	4	1	11
Mar 2022	7	3	0	10
Apr 2022	2	0	2
May 2022	2	2	0	4
Jun 2022	3	0	3
Jul 2022	3	3	0	6
Aug 2022	6	5	0	11
Sep 2022	4	3	1	8
Oct 2022	3	4	0	7
Nov 2022	7	5	0	12
Dec 2022	4	5	0	9
Jan 2023	4	4	0	8
Feb 2023	10	6	1	17
Mar 2023	5	5	0	10
Apr 2023	1	2	0	3
May 2023	3	5	0	8
Jun 2023	1	2	1	4
Jul 2023	3	6	0	9
Aug 2023	1	4	0	5
Sep 2023	3	5	0	8
Oct 2023	3	4	0	7
Nov 2023	1	0	1
Dec 2023	3	1	0	4
Jan 2024	5	3	0	8
Feb 2024	7	4	1	12
Mar 2024	4	7	1	12
Apr 2024	18	5	4	27
May 2024	8	2	0	10
Jun 2024	12	5	2	19
Jul 2024	16	4	2	22
Aug 2024	22	4	1	27
Sep 2024	6	3	0	9
Oct 2024	11	3	2	16
Nov 2024	3	1	4
Dec 2024	5	5	3	13
Jan 2025	4	4	1	9
Feb 2025	11	5	0	16
Mar 2025	7	4	3	14
Apr 2025	4	4	0	8
May 2025	6	4	1	11
Jun 2025	17	12	4	33
Jul 2025	19	8	0	27
Aug 2025	14	7	2	23
Sep 2025	29	8	1	38
Oct 2025	22	11	4	37
Nov 2025	29	27	2	58
Dec 2025	12	12	1	25
Jan 2026	20	12	4	36
Feb 2026	22	12	4	38
Mar 2026	18	11	4	33
Apr 2026	5	4	0	9

Latest update: 08 Apr 2026