UTHM Hand: Modelling and Simulation of Dexterous Anthropomorphic Hand

Human hands are a critical part of human body. This paper describes a multi fingered dexterous anthropomorphic hand, developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The robotic hand will be controlled by a specially designed glove, which the human operator will wear. The glove is embedded with multiple BendSensors to track the movement of all the joint of the operator's hand. The paper exemplifies the mathematical modelling and simulation for the robotic hand.

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