The Mechanisms in a Humanoid Robot Hand

Research paper by Yoky Matsuoka

Indexed on: 01 May '97Published on: 01 May '97Published in: Autonomous Robots


We have constructed and tested a robotic hand that is a part of a humanoid being developed at the MIT Artificial Intelligence Laboratory. It is a human-scale cable-driven tool containing four actuators, thirty-six sensors, and computing tools on board. The combination of its conciseness and sensing capability allows an integration with other anthropomorphically scaled systems. This paper presents a detailed description of the mechanical design and its implementation, including the structure of the physical hand, tendon cabling strategy, actuators, sensors and computing tools.