OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism

Recent advancements in artificial hand devel- opment have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive grasping in a human-sized prototype. We propose, an open- source, highly integrated artificial hand. It leverages a com- pliant linkage mechanism for versatile grasping capabilities, featuring six degrees of actuation and MEMS-based tactile sensors on every fingertip.