Frontiers of Mechanical Engineering >

2006 , Vol. 1 >Issue 1: 33 - 39

DOI: https://doi.org/10.1007/s11465-005-0015-6

Superunderactuated Multifingered Hand for Humanoid Robot

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  • Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;

Published date: 05 Mar 2006

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Abstract

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

Cite this article

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei . Superunderactuated Multifingered Hand for Humanoid Robot[J]. Frontiers of Mechanical Engineering, 2006 , 1(1) : 33 -39 . DOI: 10.1007/s11465-005-0015-6

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