Development of UB Hand 3: Early Results

Abstract

The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of robotic end effectors yet maintaining full anthropomorphic aspect and a good level of dexterity. In the second part this paper focuses on the early experiences of the UB Hand 3 in performing manipulation tasks.