Seven DOF Three-Finger Robotic Hand with the Pressure/Shear Sensors

This study develops a three-finger robotic hand with seven degrees of freedom (DOF), which integrates the design and testing of mechanical fingers and modular force sensors. The design concept, the test data and advantages of the pressure/shear force sensor are mentioned in detail. Finally, the force sensors are embedded into several portions of the fingers which are leveraged to feedback for controlling the grasping action to adapt to more types of workpieces. In the future, we will balance the volume and sensitivity of the pressure/shear sensor and combine ROS to expand the applications of this robotic hand.