Design Issues in Multi-finger Robotic Hands: An Overview

摘要

Multi-finger Robotic hands (MFRH) are desired similar to human hands in order to perform stable grasping and fine manipulation of different objects. Their industrial applications including material handling fulfills the requirement of unique end-effector tool empowering specific reach, payloads, and flexibility. The design and control of dexterous and prosthetic robotic hands is of important concern these days. The performance of these hands depends on their mechanical design, prosthetics etc. The mechanical range of movement must be properly controlled and monitored to get the best performance of the robotic hand. In order to obtain the desired outcome from these robotic hands, various design parameters are discussed. The control issues of the multi-finger hand-arm system in order to interact with the human environment are also discussed. The objective of this paper is to evaluate multi-finger robotic hands capable of grasping a large variety of products. An overview of the relations between the designing features for the robotic hand, its anthropomorphism and dexterity is reported. Also, the best known robotic hands developed so far are reviewed emphasizing on their ergonomics and mechanical features. Based on these parameters, a newly designed four fingered tendon actuated robotic hand is discussed along with its mechanical structure.