Forthcoming Articles

International Journal of Mechanisms and Robotic Systems

International Journal of Mechanisms and Robotic Systems (IJMRS)

Forthcoming articles have been peer-reviewed and accepted for publication but are pending final changes, are not yet published and may not appear here in their final order of publication until they are assigned to issues. Therefore, the content conforms to our standards but the presentation (e.g. typesetting and proof-reading) is not necessarily up to the Inderscience standard. Additionally, titles, authors, abstracts and keywords may change before publication. Articles will not be published until the final proofs are validated by their authors.

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International Journal of Mechanisms and Robotic Systems (One paper in press)

Regular Issues

  • Design of an underactuated two-finger hand for compliant grasp   Order a copy of this article
    by Yoshita Sarin, Earnest Ofonaike, Marco Ceccarelli 
    Abstract: This paper presents the design of an underactuated two-finger robotic hand featuring compliant grasping capabilities via flexible links. Unlike conventional designs that use spring-based flexural joints to enable underactuation, this approach utilises thermoplastic polyurethane (TPU)-based flexible links of identical length to their rigid counterparts and compliant surfaces at phalanx-object contact. This design offers an affordable and simplified alternative, enabling compliant grasping of various object shapes. The proposed finger design supports the development of a cost-effective and mechanically reliable robotic hand suitable for adaptive grasping applications. Test results are discussed with an illustrative example to show the design feasibility and the performance characterisation of the new design with a prototype of LARM2 Hand.v2.
    Keywords: robotic hands; underactuated mechanisms; finger mechanisms; compliant grasp; design.
    DOI: 10.1504/IJMRS.2026.10078007
     

 

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