The SKKU hand: Work in progress

Abstract

This paper presents on-going research of the SKKU Hand. The purpose of the development of SKKU Hand is for delicate dynamic grasp. To design a dexterous robot hand driven by motor, we studied a human hand analysis. And customized fingertip force/torque sensor and joint torque sensors are integrated each finger as well as brushless DC motors and harmonic drivers. The rest of the paper presents a control strategy of SKKU Hand. For robust grasp, we implemented classical impedance control.