Jen-Yuan Chang

Design and Modeling of a Compliant Underactuated 3-DOF CMC Joint Using a Parametric Spiral Spring

Replicating the kinematic complexity of the human thumb carpometacarpal (CMC) joint in robotic hands requires a careful balance between dexterity and mechanical simplicity. Most existing designs approximate the CMC joint with only two degrees of freedom (DOFs), which limits thumb opposition and grasp stability. This pa...