Design and optimization of a tendon-driven robotic hand

This paper presents a design and optimization of a dexterous tendon-driven robotic hand that each finger is under-actuated. The robotic hand has 9 DOFs and 6 motors with a modular design concept of three fingers. A theoretical analysis had been carried out to verify the mechanical structure of the proposed hand, optimize the location of the pulleys for efficient transmission and workspace by exam the kinematics model of the designed hand. Experimental results show good grasping performance of the proposed hand. It demonstrates that our three-fingered robotic hand can grasp these objects with different shapes.