2006, Volume 1, Issue 1
Frontiers of Mechanical Engineering >> 2006, Volume 1, Issue 1 doi: 10.1007/s11465-005-0015-6
Superunderactuated Multifingered Hand for Humanoid Robot
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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Abstract
A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
Keywords
control ; real-time control ; superunderactuation ; TH-2 ; personification
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