Design of LARM hand: Problems and solutions

This paper addresses main design issues for developing a low-cost easy-operation robotic hand named as LARM Hand. Design evolution of LARM Hand is reported by describing peculiarities and differences among LARM Hand from version I to version IV. Special attention has been addressed to the design characteristics of a 1 degree-of-freedom (DOF) driving mechanism that can be embedded into the finger body and can actuate the three phalanxes of a human-like robotic finger. Attention has been also focused to selection, location, and use of proper force sensors together with an easy operation force control architecture.