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Lego Pneumatic Underactuated Robotic Hand

A Lego replica of the Laval University Robotics Laboratory Pneumatically-Driven Highly Underactuated 10-DOF Robotic Hand. The original is a multi-functional self-adaptive robotic hand that fits directly onto any industrial robot that can use pneumatic grippers. The Lego version has similar sophisticated under actuated fingers to allow adaptive gripping. Each finger is opened and closed via Lego pneumatic cylinders connected to a single air source. Pneumatic cylinders also control the orientation of the fingers.

This configuration includes 6 Lego pneumatic cylinders, and two flow valves to control opening and closing of the hand as well as finger orientation.

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