Anthropomorphic Four Fingered Robot Hand And Its Glove Controller

摘要

The paper describes a new mechanical hand system whose hand looks and functions just like a human hand, except it has no little finger. The hand's actuators are located in the forearm, extending the hand structure to the elbow and including the wrist. The hand is controlled through an exoskeleton glove controller that the operator wears. The glove provides the man-machine interface in teleoperational control mode: it senses the operator's inputs to guide the mechanical hand in hybrid position and force control. The glove receives positional feedback. A new state of the art control and electronics design was developed for this hand system. Application possibilities are discussed.