The design and development of the DIST-Hand dextrous gripper

摘要

Presents the first prototype of the DIST-Hand dextrous gripper. DIST-Hand is a 4-fingered tendon driven device with 16 degrees of freedom, designed for experiments in the area of grasping control, and tele-manipulation. The current version of the gripper is lightweight and can be easily installed on the various existing robots. The paper outlines the kinematic and structural characteristics of the hand. Furthermore, some general methodological issues addressed during the design phase are discussed.