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After three attempts, the maximal grasping force is recorded on the electronic balance as soon as the animals lose their grip.
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Fig. 14 The relationship between the maximum grasping force and the height.
The experimental idea is to measure the maximum grasping force that CTSA Hand can provide for different cuboids and then explore how the size of cuboids affects the grasping force.
Fig. 18 Grasping force in various directions.
Grasping model, equivalent joint drive and grasping force analysis are carried out in Section 3.
Grasping was maintained for four seconds, and the grasping force was measured eight times.
Besides, two grasping force sensors are installed on base plate.
Fig. 15 Grasping force results for various applied pressures.
Which reveal the relationship among tendon driving force, joint driving forces and grasping force.
An object with a force sensor is grasped and the grasping force is measured for various pressures.
According to the analysis of equivalent joint driving torques and general grasping force, the relationship among cable driving force, joint driving forces and grasping force were revealed.
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