Design and Kinematic Analysis of an Anthropomorphic Underactuated Robotic Hand for Orthopaedic Rehabilitation
Keywords:Anthropomorphic, Degrees of freedom, Five fingered, Prosthetics, Under actuation, Workspace.
In humanoid robotics, providing a robotic system with dexterous skills and autonomous capabilities is a major problem, especially in fields such as industrial manufacturing, prosthetics, and orthopaedic rehabilitation. A multi-fingered robotic hand requires a very different degree of actuation and transmission systems to complete its operation. Under actuation techniques appear to be a viable option to obtain high dexterity robotic hands without requiring more sophisticated mechanical design. The number of actuators required to operate the hand is less than its degree of freedom, which is one of the main characteristics of an under-actuated robotic hand. Under actuation greatly reduces the complexity of the control system and is significantly less expensive than a fully actuated identical hand. The current work proposes the design and kinematic analysis of a five-finger robotic hand of anthropomorphic type in which four fingers and the thumb are under-actuated with twenty-one degrees of freedom and twelve degrees of actuation.