By Topic

UBH 3: an anthropomorphic hand with simplified endo-skeletal structure and soft continuous fingerpads

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)

The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This innovative design is suitable to host distributed sensory equipment and continuous compliant cover, allowing a high level of anthropomorphism together with great structural simplification, reliability enhancement and cost reduction. Furthermore, the proposed solution is very flexible, as it can be adapted to many different hand configurations and is not dependent on a particular type of actuation, being compatible with future availability of any kind of artificial muscles.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004