Novel mechanism of artificial finger

Abstract

This paper presents a newly developed artificial finger for anthropomorphic robots. It has a sophisticated mechanism consisting of double planetary gear system (DPGS) and compound closed linkage system (CCLS), which allows not only the synergistic gripping motion of three joints (DIP, PIP and MP joints) but also the abduction/adduction of the MP joint with only two or three actuators, all of which can be mounted on the palm.