Abstract
Dexterous anthropomorphic robotic hand has very important applications in service robot for cooperating with people in the daily living environment and using the tools specifically designed for people. In this paper, we designed a dexterous anthropomorphic robotic hand mimicking the muscle-tendon-ligament structure of the human hand. The robotic hand possesses the similar Degrees of Freedom (DOF) configuration of the human hand. Each DOF is driven with a pair of antagonistic pneumatic artificial muscles, and Bowden wires are carefully laid for mimicking the tendons of the human hand to facilitate the motion control of the robotic hand. Rubber bladders with force sensors are also employed as the skin of the palm and the finger pad to enable the force control and compliant manipulation of the robotic hand. As a result, the robotic hand can reproduce the manipulations of the human hand, and thus can be deployed on a robot to cooperate with people or on a homogeneous slave robot to improve its tele-operation performance.
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