A new design for a dexterous robotic hand mechanism
- 1 August 1992
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 12 (4), 35-38
- https://doi.org/10.1109/37.204938
Abstract
An overview of dexterous hand mechanisms is presented. A description is given of the finger mechanism, tendon-drive configuration, and transmission chain of a multifingered nine-degree-of-freedom robot hand in which the finger mechanism has three joints and each joint uses two-way tendon-actuation by only one motor. The proposed configuration requires the same number of motors as degrees of freedom, making drive control hardware and software are simpler to implement.Keywords
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