A new design for a dexterous robotic hand mechanism

An overview of dexterous hand mechanisms is presented. A description is given of the finger mechanism, tendon-drive configuration, and transmission chain of a multifingered nine-degree-of-freedom robot hand in which the finger mechanism has three joints and each joint uses two-way tendon-actuation by only one motor. The proposed configuration requires the same number of motors as degrees of freedom, making drive control hardware and software are simpler to implement.<
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