Underactuated Dexterous Hand with Independent Control of Finger Joint

Abstract

In order to achieve accurate grasping of objects, a novel joint-lockable single-turn under-actuated dexterous hand was designed for the uncontrollable problem of under-actuated dexterous hand joint movement. The structural designs of the joint locking mechanism and the inter-finger coupling mechanism were completed, and the working space of the dexterous finger were analyzed with Matlab. The coupling spring and the return spring, which play a key role in the joint locking mechanism and the inter-finger coupling mechanism, were designed to optimize the parameters affecting the joint driving torque, and the optimized finger transmission mechanism and the reel tensioning mechanism are obtained. The trials to grip different shapes and sizes objects by the dexterous hand prototype were carried out to validate the ablilities of locking the finger joints, the envelope grasping and the precision grasping.