UTHM Hand: Mechanics Behind The Dexterous Anthropomorphic Hand
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.
[1] Gary A. Thibodeau, Kevin T. Patton, "The Human Body In Health &
Disease" 3rd Edition, The University of Michigan, Mosby, 2002.
[2] Aristotle, Di partibus animalium: 687a 7, ca. 340 BC
[3] A. Bicchi, "Hands For Dexterous Manipulation And Robust Grasping: A
Difficult Road Toward Simplicity", IEEE Transactions on Robotics and
Automation, vol.16, no.6, pp.652-662, Dec 2000
[4] D.Sc. Thesis, MH-1 A Computer- Operated Mechanical Hand, Heinrich
Arnold Ernst.
[5] K. Salisbury, M. Mason, "Robot Hands And The Mechanics Of
Manipulation", MIT Press: Cambridge, MA. 1985.
[6] R. Challoo, J.P. Johnson, R.A. McLauchlan, S.I. Omar, "Intelligent
Control Of A Stanford Jpl Hand Attached To A 4 Dof Robot Arm" 1994
IEEE International Conference on Systems, Man, and Cybernetics, 1994.
'Humans, Information and Technology', , vol.2, pp.1274-1278,Oct 1994.
[7] W. T. Townsend, "The Barretthand Grasper, Programmably Flexible
Part Handling And Assembly", Industrial Robots, vol. 27, no. 3, pp l81-
188, 2000.
[8] W. Paetsch, M. Kaneko , "A Three Fingered, Multijointed Gripper For
Experimental Use", IEEE International Workshop on Intelligent Robots
and Systems '90. 'Towards a New Frontier of Applications', vol.2,
pp.853-858, Jul 1990.
[9] Hitoshi Maekawa, Kazuhito Yokoi, Kazuo Tanie, Makoto Kaneko,
Nobuo Kimura, Nobuaki Imamura, "Development Of A Three-Fingered
Robot Hand With Stiffness Control Capability", Mechatronics, vol. 2,
no. 5, pp 483-494, October 1992.
[10] S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, K. Biggers, "Design of
the Utah/M.I.T. Dextrous Hand," 1986 IEEE International Conference
on Robotics and Automation. vol.3, pp. 1520- 1532, Apr 1986.
[11] Xuan-Thu Le, Wn-Goo Kim, Byong-Chang Kim, Sung-Hyun Han,
Jong-Guk Ann, Young-Ho Ha, , "Design of a Flexible Multifingered
Robotics Hand with 12 D. O. F and Its Control Applications," SICEICASE,
2006. International Joint Conference, pp.3461-3465, Oct. 2006.
[12] Xuan-Thu Le, Se-Bong Oh, Dong-Won Ha, Won-Il Kim, Sung-Hyun
Han, "A Study On Robust Control Of Multifingered Robot Hand With
16 D.O.F," ICCAS '07. International Conference on Control,
Automation and Systems, 2007, pp.62-65, Oct. 2007.
[13] A. Namiki, Y. Imai, M. Ishikawa, M. Kaneko, "Development Of A
High-Speed Multifingered Hand System And Its Application To
Catching", 2003 IEEE/RSJ International Conference on Intelligent
Robots and Systems, (IROS 2003), vol.3, pp. 2666- 2671, Oct. 2003
[14] F. Lotti, G. Vassura, "A Novel Approach To Mechanical Design Of
Articulated Fingers For Robotic Hands", IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2002, vol.2, pp. 1687-
1692, 2002
[15] C.S. Lovchik, M.A. Diftler, "The Robonaut Hand: A Dexterous Robot
Hand For Space," 1999 IEEE International Conference on Robotics and
Automation, 1999, vol.2, pp.907-912, 1999
[16] Li-Ren Lin; Han-Pang Huang; , "Mechanism design of a new
multifingered robot hand," Robotics and Automation, 1996.
Proceedings., 1996 IEEE International Conference on , vol.2, no.,
pp.1471-1476 vol.2, 22-28 Apr 1996
[17] G. Casalino, F. Giorgi, A. Turetta, A. Caffaz, "Embedded Fpga-Based
Control Of A Multifingered Robotic Hand," ICRA '03. IEEE
International Conference on Robotics and Automation, 2003. vol.2, pp.
2786- 2791, Sept. 2003
[18] J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger, "DLR-Hand II: Next
Generation Of A Dextrous Robot Hand", 2001 ICRA. IEEE
International Conference on Robotics and Automation, 2001, vol.1, pp.
109- 114 vol.1, 2001
[19] L.Q. Tan, S.Q. Xie, I.C. Lin, T. Lin, "Development Of A Multifingered
Robotic Hand", ICIA '09. International Conference on Information and
Automation, 2009, pp.1541-1545, June 2009
[20] I. Yamano, T. Maeno, "Five-Fingered Robot Hand Using Ultrasonic
Motors And Elastic Elements", 2005 IEEE International Conference on
Robotics and Automation, ICRA 2005, pp. 2673- 2678, April 2005
[21] M. Kaneko, M. Higashimori, "Design Of 100G Capturing Robot",
World Automation Congress, 2004. vol.15, pp.117-122, June-July 2004
[22] Frank Daerden and Dirk Lefeber, " Pneumatic Artificial Muscles:
Actuators For Robotics And Automation," European journal of
Mechanical and Environmental Engineering, vol.47, pp.10-21, 2000
[1] Gary A. Thibodeau, Kevin T. Patton, "The Human Body In Health &
Disease" 3rd Edition, The University of Michigan, Mosby, 2002.
[2] Aristotle, Di partibus animalium: 687a 7, ca. 340 BC
[3] A. Bicchi, "Hands For Dexterous Manipulation And Robust Grasping: A
Difficult Road Toward Simplicity", IEEE Transactions on Robotics and
Automation, vol.16, no.6, pp.652-662, Dec 2000
[4] D.Sc. Thesis, MH-1 A Computer- Operated Mechanical Hand, Heinrich
Arnold Ernst.
[5] K. Salisbury, M. Mason, "Robot Hands And The Mechanics Of
Manipulation", MIT Press: Cambridge, MA. 1985.
[6] R. Challoo, J.P. Johnson, R.A. McLauchlan, S.I. Omar, "Intelligent
Control Of A Stanford Jpl Hand Attached To A 4 Dof Robot Arm" 1994
IEEE International Conference on Systems, Man, and Cybernetics, 1994.
'Humans, Information and Technology', , vol.2, pp.1274-1278,Oct 1994.
[7] W. T. Townsend, "The Barretthand Grasper, Programmably Flexible
Part Handling And Assembly", Industrial Robots, vol. 27, no. 3, pp l81-
188, 2000.
[8] W. Paetsch, M. Kaneko , "A Three Fingered, Multijointed Gripper For
Experimental Use", IEEE International Workshop on Intelligent Robots
and Systems '90. 'Towards a New Frontier of Applications', vol.2,
pp.853-858, Jul 1990.
[9] Hitoshi Maekawa, Kazuhito Yokoi, Kazuo Tanie, Makoto Kaneko,
Nobuo Kimura, Nobuaki Imamura, "Development Of A Three-Fingered
Robot Hand With Stiffness Control Capability", Mechatronics, vol. 2,
no. 5, pp 483-494, October 1992.
[10] S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, K. Biggers, "Design of
the Utah/M.I.T. Dextrous Hand," 1986 IEEE International Conference
on Robotics and Automation. vol.3, pp. 1520- 1532, Apr 1986.
[11] Xuan-Thu Le, Wn-Goo Kim, Byong-Chang Kim, Sung-Hyun Han,
Jong-Guk Ann, Young-Ho Ha, , "Design of a Flexible Multifingered
Robotics Hand with 12 D. O. F and Its Control Applications," SICEICASE,
2006. International Joint Conference, pp.3461-3465, Oct. 2006.
[12] Xuan-Thu Le, Se-Bong Oh, Dong-Won Ha, Won-Il Kim, Sung-Hyun
Han, "A Study On Robust Control Of Multifingered Robot Hand With
16 D.O.F," ICCAS '07. International Conference on Control,
Automation and Systems, 2007, pp.62-65, Oct. 2007.
[13] A. Namiki, Y. Imai, M. Ishikawa, M. Kaneko, "Development Of A
High-Speed Multifingered Hand System And Its Application To
Catching", 2003 IEEE/RSJ International Conference on Intelligent
Robots and Systems, (IROS 2003), vol.3, pp. 2666- 2671, Oct. 2003
[14] F. Lotti, G. Vassura, "A Novel Approach To Mechanical Design Of
Articulated Fingers For Robotic Hands", IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2002, vol.2, pp. 1687-
1692, 2002
[15] C.S. Lovchik, M.A. Diftler, "The Robonaut Hand: A Dexterous Robot
Hand For Space," 1999 IEEE International Conference on Robotics and
Automation, 1999, vol.2, pp.907-912, 1999
[16] Li-Ren Lin; Han-Pang Huang; , "Mechanism design of a new
multifingered robot hand," Robotics and Automation, 1996.
Proceedings., 1996 IEEE International Conference on , vol.2, no.,
pp.1471-1476 vol.2, 22-28 Apr 1996
[17] G. Casalino, F. Giorgi, A. Turetta, A. Caffaz, "Embedded Fpga-Based
Control Of A Multifingered Robotic Hand," ICRA '03. IEEE
International Conference on Robotics and Automation, 2003. vol.2, pp.
2786- 2791, Sept. 2003
[18] J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger, "DLR-Hand II: Next
Generation Of A Dextrous Robot Hand", 2001 ICRA. IEEE
International Conference on Robotics and Automation, 2001, vol.1, pp.
109- 114 vol.1, 2001
[19] L.Q. Tan, S.Q. Xie, I.C. Lin, T. Lin, "Development Of A Multifingered
Robotic Hand", ICIA '09. International Conference on Information and
Automation, 2009, pp.1541-1545, June 2009
[20] I. Yamano, T. Maeno, "Five-Fingered Robot Hand Using Ultrasonic
Motors And Elastic Elements", 2005 IEEE International Conference on
Robotics and Automation, ICRA 2005, pp. 2673- 2678, April 2005
[21] M. Kaneko, M. Higashimori, "Design Of 100G Capturing Robot",
World Automation Congress, 2004. vol.15, pp.117-122, June-July 2004
[22] Frank Daerden and Dirk Lefeber, " Pneumatic Artificial Muscles:
Actuators For Robotics And Automation," European journal of
Mechanical and Environmental Engineering, vol.47, pp.10-21, 2000
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:58640", author = "Amran Mohd Zaid and M. Atif Yaqub and Mohd Rizal Arshad and Md Saidin Wahab", title = "UTHM Hand: Mechanics Behind The Dexterous Anthropomorphic Hand", 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.", keywords = "Robotic hand, Multi-fingered hand, dextrous hand,anthropomorphic hand, pneumatic muscles.", volume = "5", number = "2", pages = "382-5", }
