Design and Modeling of a Cable-Driven Rigid-Flexible Humanoid Hand

The research of humanoid multi-fingered hand aiming to be applied to people's daily life, but they are faced with the main contradiction between simplicity and functionality. Herein, we propose a novel rigid-flexible coupling humanoid multi-fingered hand comprising finger and palm. Based on the rigid-flexible coupling finger designed in this paper, the mechanical deformation of rigid-flexible coupling finger structure is analyzed from the static point of view based on the theory of beam constraint model. The mechanic model of the rigid-flexible coupling finger is established according to the deformation of the designed rigid-flexible coupling finger structure driven by the cable, considering the friction force of the cable. The feasibility of the design method is proved by experiments, which can potentially bean alternative for manipulators in practical applications to complete the flexible works.