Anthropomorphic, adaptive robot hand with tendon-driven, multidirectional fingers. The fingers employ an actuation mechanism that can achieve both flexion/extension and adduction/abduction concurrently in the metacarpophalangeal (MCP) joint, using two actuators. The two actuators offer increased power transmission during the execution of precise grasping and dexterous, in-hand manipulation tasks. A design optimization framework utilizes results of hand anthropometry studies to derive key parameters of the actuation design.
In this repository you can find:
- CAD files of a bidirectional finger
- ROS package software for dual actuators operation
- Design optimization framework
- Archive of prototype images
- CAD files of the anthropomorphic robot hand will be uploaded soon
Please open a GitHub issue if you encounter any problem.