Linkage under-actuated humanoid robotic hand with control of grasping force

The single-motor multiple DOFs under-actuated finger is the focus of robot research. The grasping force of traditional under-actuated hands based on linkages is hard to control. The traditional hands also have many differences from human hands in appearance. Aiming to solve these problems, this paper has presented a novel under-actuated hand based on linkages, which also comprises of slider mechanisms and springs. Its finger has a changeable force output controlled by a motor with humanoid appearance. It also can adapt to the shape of objects. This article analyzed the force properties of the finger. According to this, a 2-DOF finger and a 3-DOF finger were designed. Finally, they are included in the hand named TH-3L, which comprises of five fingers and six motors with 15 DOFs.