Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-16T13:22:58.271Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and tests of a three finger hand with 1-DOF articulated fingers

Published online by Cambridge University Press:  16 November 2005

Marco Ceccarelli ,
Nestor Eduardo Nava Rodriguez  and
Giuseppe Carbone
Marco Ceccarelli
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr) (Italy)
Nestor Eduardo Nava Rodriguez
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr) (Italy)
Giuseppe Carbone
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr) (Italy)
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper presents the design of a new low-cost, easy operation hand having three 1-dof anthropomorphic fingers of a human size. Experimental results on human cylindrical grasping have been used for designing a 1-dof anthropomorphic finger of a human size. The mechanical design of this finger has been mainly focused on a suitable articulated mechanism. This mechanism transmits the power to the phalanxes for a human-like grasping motion and it can be embedded in the body of the finger itself. The design of a three finger hand has been presented as based on the designed finger module. Experimental tests on a built hand prototype have been carried out in order to show the feasibility of the proposed design and validate its operation.

Keywords

Anthropomorphic fingersMechanical designGrasping objects
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 183 - 196
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)