20 DOF robotic hand for tele-operation: — Design, simulation, control and accuracy test with leap motion

摘要

Robot hands with lower degree of freedom are used to reproduce the gesture of our hand, there are many gestures of our hand which cannot be reproduced in these hands. In this paper, we propose a design of anthropomorphic robot hand using twenty servo motor for twenty degree of freedoms which we can reproduce the exact and every gesture of our hand so that it is suitable for dexterous task like surgery. The accuracy of the proposed design to reproduce gestures and motion of our hand by simulating in Leap Motion Diagnostic Visualizer using Leap Motion Controller as a sensor are measured in this paper. The angle measurement method between fingers and bones of the same finger in Leap Motion Controller is also presented. Accuracy test and control system is also described.