Design and Implementation of an Anthropomorphic Hand for Replicating Human Grasping Functions

摘要

How to design an anthropomorphic hand with a few actuators to replicate the grasping functions of the human hand is still a challenging problem. This paper aims to develop a general theory for designing the anthropomorphic hand and endowing the designed hand with natural grasping functions. A grasping experimental paradigm was set up for analyzing the grasping mechanism of the human hand in daily living. The movement relationship among joints in a digit, among digits in the human hand, and the postural synergic characteristic of the fingers were studied during the grasping. The design principle of the anthropomorphic mechanical digit that can reproduce the digit grasping movement of the human hand was developed. The design theory of the kinematic transmission mechanism that can be embedded into the palm of the anthropomorphic hand to reproduce the postural synergic characteristic of the fingers by using a limited number of actuators is proposed. The design method of the anthropomorphic hand for replicating human grasping functions was formulated. Grasping experiments are given to verify the effectiveness of the proposed design method of the anthropomorphic hand.