![]() Many different styles of robotic hands have been fabricated over the last 30 years. Since the creation of the first humanoid robot Eric ( Riskin, 2016), researchers have been aiming to develop dexterity robotic hands for humanoid robots to make them grasp-like humans. However, not much work about robotic hand can be found in the history until the first modern industrial robots “Unimates” in 1960s ( Siciliano and Khatib, 2016). The robotic hand is also a kind of automaton or robot. A human hand is the most articulated parts of the human body and grasping is one of the most common and important gestures that humans use when interacting with surrounding objects. Actually, the writer basically fit the definition of a “Robot” from the Robot Institute of America (1979): “A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks.” However, its hands are not articulated. It can write any custom text up to 40 letters long, and text is coded on a wheel where characters are selected one by one. “The Writer automaton” was built in the 1770s using 6,000 moving parts by Pierre Jaquet-Droz ( Percy and Timbs, 1840). After that, various mechanical designs were produced towards a trend of complexity and precision. ![]() The Greek engineer, Ctesibius, applied knowledge of pneumatics and hydraulics to produce the first organ and water clocks with moving figures ( Rosheim, 1994). In China, Lu Ban made an artificial bird, which was able to fly with its wings ( Needham, 1974). The idea of automata was created very early in the human history more than 2,000 years ago. The paper also shows our test results with and without silicon artificial hand skin, and on Nadine robot. The compact servo bed can be hidden inside the Nadine robot’s sleeve and the whole robotic hand platform will not cause extra load to her arm as the total weight (150 g robotic hand and 162 g artificial skin) is almost the same as her previous unarticulated robotic hand which is 348 g. The wrist connecting part is also integrated into the hand model and could be customized for different robots such as Nadine robot ( Magnenat Thalmann et al., 2017). It is actuated by only six small size actuators. Our robotic hand weighs 150 g, has 15 joints, which are similar to a real human hand, and 6 Degree of Freedom (DOFs). Based on this approach, we have designed a cost-effective, 3D printable, compact, and lightweight robotic hand. Finally, the actuation of the hand is realized by cables and motors. Compared to other robotic hands, our design saves the time required for assembling and adjusting, which makes our robotic hand ready-to-use right after the 3D printing is completed. Then, we use 3D modeling techniques to create a single interlocked hand model that integrates pin and ball joints to our hand model. We start with studying the biomechanical features of a human hand and propose a simplified mechanical model of robotic hands, which can achieve the important local motions of the hand. ![]() At the same time, it also needs to be light and cheap for widely used purposes. A robotic hand for humanoid robot should look and behave human like. ![]() The first challenge is to create the hand’s articulated structure and the second challenge is to actuate it to move like a human hand. 2École Polytechnique Fédérale de Lausanne, Lausanne, Switzerlandĭexterity robotic hands can ( Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging problem.1Nanyang Technological University (NTU), Singapore, Singapore.
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