A Five Fingered Robotic Hand Prototype by using Twist Drive

摘要

A newly proposed drive mechanism for robot's joints based on a principle of twisted strings was developed and is used to power the joints of a five fingered robotic hand. The proposed mechanism is named Twist Drive because it generates a pulling force by twisting two flexible strings on each other. Properties of the mechanism are presented in the paper and application to a five fingered robotic hand is demonstrated. Low-cost, lightweight, and muscle-like operation are the main characteristics of the proposed drive and is therefore beneficial in production of a light-weight, human size robotic hand that can be used in robotics as well as in prosthetics. A prototype of five fingered robotic hand is presented, and its mechanical and control systems are explained.