Under-actuated humanoid robot hand with end power grasping

Abstract

An under-actuated finger mechanism was designed for adaptive grasping, human-like appearance and end power grasping based on a combination of belt-pulley transmission, spring constraints and an active sleeve middle phalanx. The end power grasping force is analyzed for a humanoid robot hand (TH-3B hand). The hand is similar to the human hand in appearance, size and motion with independently driven 5 fingers, 15 DOFs and 6 motors. The hand is highly modular, compact, easy to control, light-weight, and inexpensive. The hand is capable of end power grasping and self-adaptation to the shape and size of the object grasped, which makes it suitable for humanoid robots.