A robotic hand mechanism with rotating fingertips and motor-tendon actuation

Abstract

A design is presented for a multifingered dextrous robotic hand. Based on an analysis of the Utah/MIT hand, the Stanford/JPL hand, and the Belgrade/USC hand, four improvements are proposed for the mechanism, tendon-operated actuation, and functionality. A three-fingered, nine-degree-of-freedom robotic hand mechanism having nine DC servomotors, tendon actuation, rotating fingertips, and the capability for assembly operations is described. The tendon and transmission subsystems of this robotic hand are discussed. The specification of the mechanism and its applications are discussed and summarized.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>