Dexterous mechanism design for an anthropomorphic artificial hand: Osaka City University Hand I

摘要

In this paper we propose our first version of an anthropomorphic robot hand. The cosmetic and the function of our proposed hand allow using the hand as a prosthetic hand in addition to as an open platform of robot hands for robotics research. Our hand is composed of five fingers, with total 19 degrees of freedom (DOF) without considering the wrist joints which has additional 3 DOF with a dexterous design. The thumb finger in our proposed hand has a special design that improves the implementation of the hand. As in human hand, the tip joint of every finger (except the thumb) is engaged with the middle joint by a planar bar linkage mechanism. Also in our proposed hand, the palm has a unique design so as to improve the hand grasping function, and handling different shape objects firmly. The size of the hand is almost the same as a human hand. For maintenance aspects, the fingers of the hand starting from the fingertip till the palm base are uncoupled, in which each finger can be modified individually if needed. All actuators, mechanical parts, and sensors are on the hand. The compact design makes the proposed hand feasible to adapt the hand to the injured wrist. Experiments of grasping and handling several objects are shown in detail.