Gopalkrishna Advanced Rural Research Foundation

MODE: TENDON / CABLE-DRIVEN[cite: 1, 2, 6]

WORKSPACE CLEARANCE: EXTENDED ARM • FULL DIGIT ISOLATION

Grasps:[cite: 2, 6]

Tactile Pressure Feedback[cite: 1, 2, 6]

Thumb Tip:[cite: 2, 6] 0.2 N[cite: 2, 6]

Index Tip:[cite: 2, 6] 0.1 N[cite: 2, 6]

Middle Tip:[cite: 2, 6] 0.1 N[cite: 2, 6]

Ring & Little (Pinky): 0.1 N

Heatmap: 0N (Cyan) → 10N (Red)

Master Gripper Clench 0%[cite: 2, 6]

Synchronously flexes all 5 fingers to enclose around the target object[cite: 6].

Arm Presentation Angle[cite: 6] 25°

Controls forward shoulder pitch to move the hand away from the torso.

Lateral Distance (Clear Body) 20°

Swings the entire arm outward to ensure the 5th finger has maximum clear space.

Exploded Hand Inspection[cite: 1, 2, 6] 0%[cite: 2, 6]

Finger Articulations[cite: 2, 6]

Thumb Opposition[cite: 2, 6] 20°[cite: 2, 6]

Thumb Flexion[cite: 2, 6] 15°[cite: 2, 6]

Index Finger Curl[cite: 2, 6] 10°[cite: 2, 6]

Middle Finger Curl[cite: 2, 6] 10°[cite: 2, 6]

Ring & 5th Finger (Pinky) Curl 10°[cite: 2, 6]

Grasp Stability:[cite: 6] Stable (Isolated Clear)

Contact Force:[cite: 6] 0.8 N[cite: 2, 6]