Abstract: A multi fingered dexterous anthropomorphic hand is
being 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 paper exemplifies the mechanical design for
the robotic hand. It also describes different mechanical designs that
have been developed before date.