Research on Mechanism Design and Gesture Recognition Application of High Biomimetic Anthropomorphic Robotic Hand

Since traditional dexterous hand has high cost, low degree of freedom, complicated control, our research benefits from human hand physiological structure, designs and prototypes a highly biomimetic anthropomorphic robotic hand, mimics the salient features of the human hand. We believe that the biomechanics of human hand is an essential component of the hand dexterity and can be replicated with highly biomimetic design. To this end, we first analyze human hand from engineering point of view, replicate the important biomechanical features with conventional mechanical design. Then, we reinterpret the essential biomechanical advantages of the human hand from roboticist's perspective and design a biomimetic robotic hand that closely mimics its human counterpart with artificial joint capsules, crocheted ligaments and tendons, laser-cut extensor hood, and elastic pulley mechanisms. To this end, we identify the workspaces of the fingertip by trajectory experiment, apply the robotic hand in gesture recognition experiment, which collecting the EMG signal through the MYO Armband and controlling the robotic hand to observe the performance of the biomimetic robotic hand. The experiment demonstrate that our design can be tele-operated to grasp and manipulate daily objects.