Evaluation of a direct drive approach in multi-fingered robotic hands

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. However, the state of the art in multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Remotely driven hands require computation of tendon displacement for evaluating joint space vectors before signals are sent to actuators. A direct drive scheme in multi-fingered hands is a new avenue that simplifies the overall control of the hand. The authors concentrate on the use of stepper motors as direct actuators, mechanical structure of a prototype finger, trajectory motion of fingers, the control system of the hand, and manipulation issues using such new drive techniques.<>