Kim, Eun-Hye Lee, Seok-Won Lee, Yong-Kwun 2024-01-20T17:30:35Z 2024-01-20T17:30:35Z 2021-09-02 2011-04 2234-7593 https://pubs.kist.re.kr/handle/201004/130502 This paper describes a development of bio-mimetic robot hand and its control scheme. This robot hand has four independently moving fingers, which are driven by four-coupled link mechanism with two linear actuators. By using the linear actuators, we make the hand similar to human hand in its structure and motion. The coupled link mechanism makes the hand compact in structure and efficient in power. The robot hand is designed considering the dexterity and the compact size suited for various tools and objects in daily life. The hand has tactile sensors mounted on the palm and the fingertips at each finger. With tactile sensor based feedback control and force closure method, the paper shows the control of the robot hand which is very stable in grasping and handling various objects. English KOREAN SOC PRECISION ENG A Dexterous Robot Hand with a Bio-mimetic Mechanism Article 10.1007/s12541-011-0031-x 1 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.12, no.2, pp.227 - 235 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 12 2 227 235 scopus kci ART001537054 000288977900007 2-s2.0-79955434085 Engineering, Manufacturing Engineering, Mechanical Engineering Article Anthropomorphic Bio-mimetic High-efficiency Linear actuator Parallel mechanism Robot hand