Development of Dexterous H3 (Hanyang Humanoid Hand)

This paper proposes a dexterous robot hand, H³ with 5 fingers which can grasp various objects stably. The thumb has the structure similar to the function of the adductor pollicis in human thumb and 2 D.O.F active joints for power grip and palmar grip which includes full palmar prehension, digito palmar prehension postures. An index finger has a direct-actuated mechanism moving in its saggital plane and the other fingers have a single underactuated mechanism to grasp various objects of shape. Each finger consists of a 4-bar linkage which connects proximal and middle phalanges and a spring attached between middle and distal phalanges. A series of simulations show that the robot hand can grasp objects stably using palmar grip and cylindrical palmar grip.