Kinematic Multi DOFs Design of Humanoid Robot Hands with Tendon Mechanisms based on the Anatomy of Human Skeletal Muscles

This paper presents the kinematic multi DOFs design of a robot hand that is inspired by the structure of human skeletal muscles. In general, robot hands with a small number of degrees of freedom have a limit on the kinematic functions and representations. In this study, a robot hand was designed that was inspired by the anatomical structure of a human body with the tendon mechanism. In particular, the wire was used to realize the anatomical structure and functionalize the robot hand instinctively. Using the force and moment equilibrium calculation, the maximum force was predicted to output from the proximal phalanges. The experiments confirmed that the suggested mechanism performed the expected functionality.