Real-Time Data Processing of the Sensory Data of a Multi- Fingered Dextrous Robot Hand

Abstract

In recent years, multi-fingered dextrous end-effectors for robots have attracted a steadily increasing amount of attention in the robotics community (cf. also Chapter 4.1). Their design is modelled on the physical structure of the human hand thus allowing for a limited imitation of human grasping. The Belgrade-USC artificial hand (see Fig. 1) is the most recent result of research efforts aimed at the development of robot end-effectors, capable of reproducing most of the functionality of the human hand. The development goals for this hand included minimal weight, the ability to handle a large class of grasping tasks, and mechanical dimensions similar to the human model. Rather than stressing maximum flexibility and dexterity, the design emphasizes the use of synergies between the motion of finger joints and fingers. Its versatility in grasping makes this hand suitable for robotic applications such as the handling of toxic or nuclear waste, but it may also be utilized in the field of prosthetics.