In this paper, we focus on a rarely used paradigm in the design of underactuated robot hands: the use of springs as agonists and tendons as antagonists. We formalize this approach in a design matrix also considering its interplay with the underactuation method used (one tendon for multiple joints vs. multiple tendons on one motor shaft). We then show how different cells in this design matrix can be combined in order to facilitate the implementation of desired postural synergies with a single motor. Furthermore, we show that when agonist and antagonist tendons are combined on the same motor shaft, the resulting spring force cancellation can be leveraged to produce multiple desirable behaviors, which we demonstrate in a physical prototype.

翻译：在本文中,我们侧重于设计作用不足的机器人手时很少使用的模式:将弹簧用作刺激剂,将旋翼用作对抗剂。我们将这一方法正式纳入设计矩阵中,同时考虑其与所使用的低活化方法的相互作用(一个多关节与多关节对一个运动轴的多关节)。然后我们展示如何将这一设计矩阵中不同的细胞组合起来,以促进与单一发动机实现理想的姿势协同效应。此外,我们还显示,当将弹簧和对立管结合在同一运动轴上时,由此产生的弹簧力取消可以用来产生多种可取的行为,我们在一个物理原型中就证明了这一点。