This paper introduces the mechanical characteristics of an underactuated humanoid robot hand (TH1 hand) with changeable grasping force.
该文设计了变抓取力的欠驱动拟人机器人手TH-1。
A super under-actuated humanoid robot multi-fingered hand, TH-2 Hand, was designed based on the previous under-actuated finger mechanism.
以该欠驱动手指机构为基础，设计了一种高欠驱动的拟人机器人多指手——TH-2手。
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