I. Introduction
A DAPTIVE underactuation has been utilized extensively. in the design of robotic hands in order to allow for high degree-of- freedom, yet lightweight and compact systems (e.g. [1]–[4]). Benefits of this approach include passive adaptability to a wide range of object size and shape, lower contact forces during object acquisition, mechanical simplicity and durability, and lack of need for complex sensing and control. However, one of the disadvantages to the approach comes during precision grasping, where unconstrained DOFs can cause the mechanisms to reconfigure and potentially lose the grasp. Power grasps, where the hand envelopes the object, are more robust than precision grasps, where the object is grasped between the tips of the fingers. Precision grasps are necessary when objects are small or when objects are approached from above.