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grasping objects

Robotica (1)

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Design and tests of a three finger hand with 1-DOF articulated fingers
Marco Ceccarelli, Nestor Eduardo Nava Rodriguez, Giuseppe Carbone
Journal:

Robotica / Volume 24 / Issue 2 / March 2006

Published online by Cambridge University Press:

16 November 2005, pp. 183-196
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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.