Development of Cable-driven Anthropomorphic Robot Hand *

This letter presents a novel design of an anthropomorphic robotic hand. By using a parallel plate knuckle with a universal joint, it is possible to achieve two degree of freedom (DOF) at a joint of a finger with wide working range in the proposed design. Each degree of freedom of the robotic hand is driven by parallel cables with single motor that mimics the muscle antagonism of the human hand. The proposed robotic hand embodies human-like features and achieves an adaptive grasping capability by adopting compliant coupling between the distal and the proximal interphalangeal joints. Experiments are conducted to validate the performance of the robotic hand.