An indirect style linkage under-actuated humanoid robot hand

Based on the analysis of the development of recent robotic hands, proposes the design of a new under-actuated humanoid hand, the object seized drives the first segment slip inside under the forces applied by the other active joints or fingers, thus the first segment presses the active link to rotate and consequently make the second segment rotate through the passive link. This paper also evaluates the characteristics of kinesiology and dynamics. This hand fits to be mounted in a humanoid robot because of its high personification, satisfied self-adaptation, super under-actuation, compactness with easy real-time control, small volume, lightweight, strong grasping function.