The development of Postech Hand 5

We define that the end effector is the device which interacts with the environment or contacts objects to execute tasks. Up to now, many researchers have developed anthropomorphic robotic hands as end effectors. We discuss the problems in the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, PRH´s design concept, kinematic design and developments of the actuator, transmission, and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joints and interphalangeal joints suitable for human-size motor-driven robot hands.