Design of a Humanoid Hand for Human Friendly Robotics Applications

摘要

In this paper the mechanism and design of a new, single-motor-driven hand with humanlike manipulation abilities is discussed. The new hand (called TUAT/Karlsruhe Humanoid Hand) is designed for the humanoid robot ARMAR that has to work autonomously or interact cooperatively with humans and for an artificial, lightweight arm for handicapped people. The new hand is designed for anatomical consistency with the human hand. This includes the number of ringers, the placement and motion of the thumb, the proportions of the link lengths and the shape of the palm. It can also perform most part of human grasping types. The hand possesses 21 DOF and is driven by one actuator which can be placed into or around the hand.