Design and Experiment of a Four-Fingered Robotic Hand for T-FLoW 4.0 humanoid robot

In this research study, we present a novel design of a four-fingered robotic hand for T-FLoW 4.0 humanoid robot along with its experiments to validate its grasping performance. Our proposed robotic hand designed with four fingers and five Degree-of-Freedom (DoF), with a configuration of a thumb, index, middle, and ring fingers to remain within the criteria of an anthropomorphic type robot hand. Our hand is built with a modular design on each finger and its mechanism, allowing for easy assembly and achieving a compact hand result. Main controller Arduino Mega implement the system for grasping movement, and then PCA9685 PWM controller get the hand movement instructions from it and generates the required PWM signal for the servo motors. The process of manufacturing the hand involves 3D printing technology to produce hands with a realistic appearance, and use PLA filament material achieve lightweight, affordable, and easy-to-maintain outcomes. The grasping experimental results show that our proposed robotic hand could perform basic grasping movements on household objects. With the use of Cini’s taxonomy of grasp as the hand functionality standard, we achieved a success rate of 8 out of 14 tests conducted.