Integrated linkage-driven dexterous anthropomorphic robotic hand

Uikyum Kim (), Dawoon Jung, Heeyoen Jeong, Jongwoo Park, Hyun-Mok Jung, Joono Cheong, Hyouk Ryeol Choi, Hyunmin Do and Chanhun Park
Additional contact information
Uikyum Kim: Ajou University
Dawoon Jung: Korea University
Heeyoen Jeong: Sungkyunkwan University
Jongwoo Park: Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM)
Hyun-Mok Jung: Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM)
Joono Cheong: Korea University
Hyouk Ryeol Choi: Sungkyunkwan University
Hyunmin Do: Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM)
Chanhun Park: Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM)

Nature Communications, 2021, vol. 12, issue 1, 1-13

Abstract: Abstract Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

Date: 2021
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DOI: 10.1038/s41467-021-27261-0

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