A design framework for dexterous robotic hand

摘要

Our goal is to design a dexterous robot hand driven by motor. For this, we studied a human hand analysis and constructed a DH model. We verified it by using Visual tracker. Also, we calculated workspace, manipulability, Opposition Angle of a human hand DH model and made the Kapandji test. By using this human hand analysis data, we designed new robot hand and analyzed the newly designed robot hand. Also we compared with analysis data of other robot hands.