University of Washington
Weight (including actuation system) | 942 |
Actuation | 10 |
3D printing Technique | |
Printbed | 20 x 20 |
Print Resolution | 0.025 |
Printing Time | 2 |
Material for Ligaments | |
Material for Flexor Tendons |
To achieve human-like dexterity in robotic hands the biomechanical advantages of the human hand are reinterpreted from a roboticist’s perspective. The hand is constructed of artificial joint capsules, crocheted ligaments and tendons, laser-cut extensor hood, and elastic pulley mechanisms.
The proof-of-concept design has a repeatability in finger motions and can be teleoperated to grasp and manipulate daily objects with a variety of natural hand postures based on hand taxonomy.
The design benefits from several digital manufacturing technologies:
A review of related work and introduces the design motivation. Interprets the important biomechanics of the human hand from an engineering point of view, and then details how this has been translated into the biomimetic design of the robot hand. This includes descriptions of the prototyping process.
Lists related and preceding research projects.
Tags
biomechanicsbiomimeticsgrippersrobotic handstelerobotics