A Novel Lightweight Cable-Driven Integrated-Finger Robotic Hand for Dexterous Manipulation

Abstract

In recent years, the demands of using robotic hands have been increased dramatically in a variety of applications such as intelligent manufacturing. The current robotic hands usually are functioned relying on the assembly of numerous components, which bring unnecessary dead weight and complex control systems. Such shortcomings limit the further application of robotic hands. To address this issue, this paper presents a lightweight and low-complexity five-fingered robotic hand called the Integrated Finger Robotic Hand (IFRH). Each finger of the robotic hand is built as an integrated object based on a compliant joint called the Elastic Knuckle Connection (EKC). The 3D-printed finger design minimizes the number of components as well as the weight of the system. The IFRH can be assembled quickly and maintained easily due to its low number of parts compared to traditional separate-finger robotic hands. The IFRH is driven by servo motors which transmit motion to a monofilament fishing string. This fishing string is connected to each finger, which mirrors the grasping motion of a real human hand when contracted. With feedback from force sensors, the IFRH accomplishes the goal of high precision grasping of daily objects. The IFRH can be controlled by a potentiometer powered by Arduino, further increasing the user-friendly nature of the robotic hand. A number of experimental tests are conducted to verify the accuracy of the force transmission system, the grasping capabilities, and the grasping precision.