Development of a Three-Fingered Multi-Modality Dexterous Hand with Integrated Embedded High-Dimensional Sensors

In order to realize stable grasping and dexterous manipulation of irregular objects in unstructured environments, a fully-actuated three-fingered multi-modality dexterous hand with precise perception is developed. To enhance the movement performance of the dexterous hand in 3D space, the axis of the metacarpophalangeal (MCP) joint is perpendicular to the other two joint axes to form the 9-DoF hand mechanism, which effectively increases the grasping modalities of the dexterous hand. Meanwhile, high-precision 6-axis force/torque (F/T) sensors are integrated and embedded in distal interphalangeal (DIP) links and fingertips to improve the perception of the dexterous hand. Finally, the precision experiments on F/T sensors and joint movement with the grasping experiment are carried out to evaluate the performance of the hand. The results show that the force and torque errors of the sensors are less than 1%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\%$$\end{document} and 4%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\%$$\end{document}, the joint movement error of the proposed dexterous hand is less than 1.4 degree. Multi-modality grasping of various objects is performed to show that the high precision and strong grasping capabilities of the proposed dexterous hand.