Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-Like Manipulation
Zelong Zhou, Wenrui Chen, Zeyun Hu, Qiang Diao, Qixin Gao, Cuo Yan, Yaonan Wang
AI summary
Problem
Replicating human hand dexterity typically requires excessive actuators and complex coupling, which compromises mechanical performance and control. This paper addresses the trade-off between actuation complexity and functional dexterity in underactuated robotic hands.
Approach
The authors propose a modular finger topology with four degrees of freedom driven by just two actuators, utilizing a hybrid gear-elastic transmission and differential coupling to enable adaptive, compliant grasping.
Key results
- Modular finger achieves four degrees of freedom with only two actuators via differential coupling
- Prototype successfully reproduces all 33 Feix grasp types
- Demonstrates stable in-hand manipulation with tools like scissors and tweezers
- Achieves up to 10 N fingertip force with sub-degree positional repeatability
Why it matters
Offers a mechanically efficient, biomimetic blueprint for compact, high-dexterity robotic hands and prosthetics requiring real-world manipulation capabilities.
Abstract
Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human- like manipulation with a small number of actuators. Nonethe- less, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis.