UBH 3: an anthropomorphic hand with simplified endo-skeletal structure and soft continuous fingerpads
- 1 January 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5, 4736-4741 Vol.5
- https://doi.org/10.1109/robot.2004.1302466
Abstract
The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This innovative design is suitable to host distributed sensory equipment and continuous compliant cover, allowing a high level of anthropomorphism together with great structural simplification, reliability enhancement and cost reduction. Furthermore, the proposed solution is very flexible, as it can be adapted to many different hand configurations and is not dependent on a particular type of actuation, being compatible with future availability of any kind of artificial muscles.Keywords
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