Design of hybrid type robotic hand : The KU hybrid HAND

In this paper, we present a new robotic hand `KU hybrid HAND' which can generate multiple modes of postures. Our hand has a hybrid mechanism realizing the two modes, which are human-like hand type and conventional robot hand type. It has four fingers, total 13 degrees of freedom(DOFs) by 13 actuators; the thumb has 4 DOFs and the three other fingers have three DOFs per each finger. We detail the design concept, kinematic analysis and functions of our hybrid robotic hand.