OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism

Recent advancements in artificial hand development have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive grasping in a human-sized prototype. We propose, an open-source, highly integrated artificial hand. It leverages a compliant linkage mechanism for versatile grasping capabilities, featuring six degrees of actuation and MEMS-based tactile sensors on every fingertip.