Superunderactuated Multifingered Hand for Humanoid Robot

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. This work was translated from the Journal of Tsinghua University (Science and Technology), 2004, 44(5) (in Chinese) This research is funded by the National Natural Science Foundation of China (grant 50275083) and the Education Prosperity Plan of the National Ministry of Education