Innchyn Her, Tse-Shuen Shih, and Chih-wei Wu
Anthropomorphic robotic hand, underactuated design, six-bar linkage, tendon drive system, grasping capability
This paper presents a modularized anthropomorphic robotic hand that requires fewer actuators to control its total degrees of freedom. Two types of fingers were derived from a single kinematic inversion of the Watt six-bar chain, each then transformed into a seven-bar mechanism by adding a pivoting ground link. Both finger mechanisms are operated with a tendon drive system. Using two more links in the design of the robotic fingers enables better imitation of the motion of a human finger grasping an object. Through experimental verification, the proposed SYS1 hand has demonstrated to be a low-cost, light-weight, and dexterous robotic hand.
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