SmartHand mechanisms. A) Underactuated & sensorized finger; Te indicates the location of the tendon tension sensor; TaI and TaP are the intermediate and proximal phalanx tactile sensors; MCP, PIP and DIP are the hall effect joint sensors; Tension Cond indicates the location of the tendon tension sensor conditioning PCB. B) Capstan-based actuator C) Adaptive grasping mechanism scheme: the rotation of the screw (red arrow) causes the slider to translate (green arrow) due to the screw-lead screw coupling. The slider pulls (or releases) the three tendons simultaneously, which due to compressing springs allow for adaptation of the last three finger to the object. LS stands for limit switch sensor.