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A study of a robotic hand with tendon driven fingers

Published online by Cambridge University Press:  15 May 2014

Cesare Rossi ,
Sergio Savino ,
Vincenzo Niola  and
Stefano Troncone
Cesare Rossi*
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Sergio Savino
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Vincenzo Niola
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
Stefano Troncone
Affiliation:
Dipartimento di Ingegneria Industrale, Università di Napoli – “Federico II”- Napoli, Italy
*
*Corresponding author. E-mail: [email protected]
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Summary

In the present paper, a model of an underactuated robotic hand with tendon driven fingers is proposed. The aim of the project was to study the feasibility of building a mechanical hand with four or five fingers, the movement of which is achieved using a single linear actuator. The mechanism was first modelled in order to study the possible improvement in the ability of a “robotic hand” powered with a single actuator in regard to grasping objects with complex shapes and also in achieving a strong grip on objects. Next, a model of the finger was studied in order to optimize of its parameters. Finally, a five-fingered robotic hand was modelled for potential application as a human hand prosthesis. Our studies on the dynamic and kinematic behaviour of a single finger mechanism permitted us to make the first prototypes of the mechanism. In addition to modelling studies, we also present a prototype of the modelled robotic hand that was developed in order to optimize functionality and simplicity of construction.

Keywords

Robotic gripperTendon driven gripperRobotic handHuman prosthesisUnderactuated mechanism
Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015 , pp. 1034 - 1048
Copyright
Copyright © Cambridge University Press 2014 

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