Nets of tendons and actuators: an anthropomorphic model for the actuation system of dexterous robot hands

Abstract

The problem of the arrangement of tendons for actuation systems of dexterous robot hands is presented. The practical solution outlined in this paper considers both extrinsic actuators' tendons and intrinsic actuators connected according to a net that corresponds to the anthropomorphic arrangement of the human hand motor system. A preliminary theoretical approach to the solution of a general net of tendons and actuators is presented along with the description of a first net model already implemented. The theoretical solution of the net will allow to determine specifications in terms of range of linear forces and displacements required for the single actuators of a practical actuation system for robot hands.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>