Journal of Bionic Engineering

, Volume 15, Issue 1, pp 94–105 | Cite as

Humanoid design of mechanical fingers using a motion coupling and shape-adaptive linkage mechanism

  • Yi Zhang
  • Hua Deng
  • Guoliang Zhong


This paper proposes a novel underactuated finger mechanism based on a motion coupling and shape-adaptive linkage design that combines anthropomorphic free motion and adaptive grasping. The proposed three-joint finger mechanism with one active Degree of Freedom (DOF) consists of a five-linkage mechanism in the proximal phalanx and a mechanism comprising two parallel planar four-bar linkages in the middle phalanx. The respective mechanism allows the simultaneously rotation of their corresponding phalanges in the plane before making contact with an object, and can fully envelop an object, even if certain phalanges are blocked. The duel parallel four-bar linkage mechanism is adopted to improve the grasping capacity of the distal phalanx. An optimal design of the finger is presented according to anthropomorphic phalanx trajectories and maximized grasping forces obtained with consideration for the angular velocity relationships of the three phalanges and their force transmission performances. The functionality of the proposed finger mechanism is verified through multiple simulations and grasping experiments using a prototype finger.


humanoid finger underactuated mechanism linkage mechanism adaptive grasp 


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This work was supported by National Basic Research Program of China (Grant No. 2011CB013302), National Natural Science Foundation of China (Grant No. 51405515), and Hunan Provincial Natural Science Foundation of China (Grant No. 2017JJ3381). Additionally, the authors would like to thank Dr. Xiaogang Duan and Huanxin Luo from Central South University for their valuable discussions and suggestions.


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Copyright information

© Jilin University 2018

Authors and Affiliations

  1. 1.College of Mechanical & Electrical EngineeringChangsha UniversityChangshaChina
  2. 2.State Key Laboratory of High-Performance Complex ManufacturingCentral South UniversityChangshaChina
  3. 3.School of Mechanical and Electrical EngineeringCentral South UniversityChangshaChina

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