An Overview of Anthropomorphic Robot Hand and Mechanical Design of the Anthropomorphic Red Hand - A Preliminary Work

摘要

This paper provides a brief overview of the design of the past and current of anthropomorphic robot hands. The paper also introduces a new mechanical design of the anthropomorphic robotic hand known as the Red Hand. The Red Hand must be able to emulate the capability of the human hand by providing similar degrees of freedom (DOFs), ranges of motion, link and sizes. The provision of the Red Hand is important as a platform to study active compliance control. Generally, the Red Hand possesses four fingers and one thumb, with a total number of 15 degrees of freedom. The fingers are actuated by the Brushless DC Motor, with integrated speed controller. Two different force sensors namely the Tactile Pressure Sensing (TPS) and the Force-Sensitive Resistor (FSR) are considered for the Red Hand to produce active compliance control.