Design of a novel dexterous robot hand

In the robotic community more and more hands are developed. Based on the experience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand with multisensory function and high integration is jointly developed. The prototype of the hand is successfully built, which has 4 fingers in total 13-DOFs (degree of freedom). And each finger has 3-DOFs and 4 joints, and the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. It also has an additional DOF to realize motion of the thumb relative to the palm, and the fingertip force can reach up to 10 N. Full integration of the mechanical body, actuation system, multisensory system and electronics is a significant feature. DSP (digital signal processor) based on control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 2 lines.