CVT for fingers

The use of variable transmission systems in the mechanical transmission from the motor to the finger joints allows to obtain high velocity in free motion of the finger and high force in forcefull grasping tasks. Two designs were obtained in the project and prototypes developed for them, but finally were not included in the final hand prototypes due to space limitations.

Design CVT-1

It uses compression springs for changing the momtent arm produced by the motor in the finger joints, applicable in tendon driven underactuated fingers.

Design CVT-2

This design is based on the use of a deformable 5-bar linkage with spring. It is applicable to linkage driven fingers.