Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

摘要

This paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and nonlinearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mecanique des Solides (LMS) hand.