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A new design for a dexterous robotic hand mechanism

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3 Author(s)
Gongliang Guo ; Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA ; Gruver, W.A. ; Qian, X.

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.<>

Published in:

Control Systems, IEEE  (Volume:12 ,  Issue: 4 )