Quasi-static analysis of passive stability in a novel underactuated multi-finger hand

Quasi-static analysis of passive stability in a novel underactuated multi-finger hand

|Authors: Léonie Plancoulaine, Sylvain Guégan, Franck Plestan, Damien Chablat

|Venue: arXiv preprint | Year: 2026

|arXiv: 2609.11579v1

Abstract

Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predicting the stable equilibrium pose of the grasped object remains a significant challenge. This paper introduces a quasi-static analytical approach to assess passive stability in underactuated multi-finger hands. A novel three-finger hand architecture integrating a differential spring-loaded slider mechanism is introduced, enabling versatile and adaptive grasping. The study focuses on how the differential mechanism influences the overall grasp behavior and analyzes the effect of object size on the stable equilibrium configurations for two canonical grasp types: cylindrical and spherical.

Key Contributions

• Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuato…
• This paper introduces a quasi-static analytical approach to assess passive stability in underactu…
• A novel three-finger hand architecture integrating a differential spring-loaded slider mechanism …
• The study focuses on how the differential mechanism influences the overall grasp behavior and ana…

Topics

• manipulation

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Plancoulaine2026_260911579v1,
  title     = {Quasi-static analysis of passive stability in a novel underactuated multi-finger hand},
  author    = {Léonie Plancoulaine and Sylvain Guégan and Franck Plestan and Damien Chablat},
  year      = {2026},
  eprint    = {2609.11579v1},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2609.11579v1}
}