Design of under-actuated humanoid robot finger with shape adaptation

To obtain more DOFs by fewer actuators with lower control difficulty, under-actuated mechanical fingers are needed, so that a robot hand can grasp objects much better and is more similar to human hand. The design idea on under-actuated fingers is enlarged, and an experimental under-actuated finger mechanism is developed. As a finger of a robot hand or a part of a finger, this mechanism makes a robot hand has fewer drivers, but more DOFs. It can realize passive adaptive grasping objects of different shapes and sizes without any extra requirements of control precision. With the properties of small, light, but reliable, it is easy to produce. The main parameters for design are also described in detail.