The Robonaut hand: a dexterous robot hand for space

摘要

A highly anthropomorphic human scale robot hand designed for space based operations is presented. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. The device approximates very well the kinematics and required strength of an astronaut's hand when operating through a pressurized space suit glove. The mechanisms used to meet these requirements are described in detail along with the design philosophy behind them. Integration experiences reveal the challenges associated with obtaining the required capabilities within the desired size.