Mechanical Design of an Anthropomorphic Hand for Shapeless Object Grasping

In this paper is presented the design of a mechanical hand, for tele-operation tasks, which counts with movements similar to those made by a human hand, due to its number of joints (22 DOF) and structure built from the wrist. The relative movements between knuckles and the relationships between its three flexible arcs provide a bigger work space and better behavior to grasp voluminous and shapeless bodies, making a difference of mechanical anthropomorphic hands presented in other mechanical designs based on the rigid palm.