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Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation
This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actua …