A Reconfigurable Underactuated Grasper with In-hand Manipulation

Research output: Contribution to journalArticlepeer-review


One of the hallmarks of a dexterous robotic hand is the ability to perform in-hand manipulation (i.e., without re-grasping). In the field of robotic hand design, however, there are competing interests between dexterity, simplicity, and reconfigurability. It can be difficult to achieve all of these objectives simultaneously. This paper presents the design of a simple underactuated grasper which uses a gimbal and parallelogram mechanism to achieve in-hand manipulation while maintaining grasp. The new grasper also integrates elements which make it reconfigurable or metamorphic, and is readily adapted for different types of robotic fingers.

Original languageEnglish (US)
Pages (from-to)151-158
Number of pages8
JournalMechanisms and Machine Science
StatePublished - 2021
Externally publishedYes


  • In-hand manipulation
  • Robotic grasping
  • Underactuated grasper

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


Dive into the research topics of 'A Reconfigurable Underactuated Grasper with In-hand Manipulation'. Together they form a unique fingerprint.

Cite this