Ca.U.M.Ha. robotic hand (Cassino-Underactuated-Multifinger-Hand)

The mechatronic design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) and the analysis of some experimental grasping tests of a built prototype are presented in this paper. Ca.U.M.Ha. robotic hand shows an anthropomorphic design since provided of four articulated fingers and a simplified contrasting thumb, which are all joined to a rigid palm. The main characteristics of Ca.U.M.Ha. are the underactuation of each finger mechanism with three phalanxes and the common operation through PWM (pulse- width-modulation) modulated pneumatic digital valves of the four articulated fingers with pneumatic actuation. The actuation force control of Ca.U.M.Ha. is obtained by controlling the pressure in the pushing chambers of the pneumatic actuators.