Development of Hybrid-type Robot Hand

Abstract

This work deals with development of a hybrid-type robot hand. The proposed robot hand consists of two modules: a robot hand module and a driving force transfer module. The robot hand module has a thumb and three fingers. The thumb is designed by using a linkage structure. The other fingers are designed by combining a wire-driven structure and a linkage is employed to design the index fingers. Design, development, and experimental work of the proposed system are reported in this paper.