Figure 1

SmartHand architecture. Number of elements used are given in parentheses. A) Distribution of DoFs, tendons, joints and actuators. Abbreviations: NBDM, non-back-drivable mechanism; AGM, adaptive grasping mechanism; TM, trapezio-metacarpal joint; M1..4, motor 1..4. B) Distribution of sensors. Motor sensors are 4 current plus 4 position sensors.