Robotic hands and underactuated finger mechanisms

Abstract

A real biologic hand has the features of compact volume, many fingers, many degree of freedoms, and strong grasp force, which brings big challenges to built a robotic hand-like real hand. In fact, all of the power supply, drivers, control system, sensors, and information processing system are need to be installed in the humanoid robot itself, which provides very strict power cost and real-time control as well as the humanoid appearance of the humanoid robot hand.