Wire Driven Multi-fingered Hand

Living reference work entry


Robot hand is an end effector for manipulation. For the robots to perform dexterous tasks, many joints are necessary. For the anthropomorphic systems, general configuration of one hand involves about 20 joints, which is almost comparable to that of whole body of a humanoid robot. Large number of joints, in general, increases the mechanical complexity, reduces admissible force, and deteriorates robustness. Tendon-driven system is an important technology in realizing a robot hand with both the dexterity and robustness. There are several basic structures categorized by the number of actuators used in the system, such as N type, 2N type, N + 1 type, and underactuated type. Also, there are choices in tendon routing that are advantageous in reducing the friction or the complexity of the system. Tension measurement on the tendon is another consideration when the force controllability of the hand is important. In this chapter, basic theory on tendon-driven systems is introduced. The tendon-driven hands with N-type tendon system with intrinsic actuation and underactuated hand with extrinsic actuation are presented as the case studies.


Underactuated hand N-type tendon system N+1-type tendon systems 2N-type tendon system Tension sensor 


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© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  1. 1.Humanoid Research Group, Intelligent Systems Research InstituteNational Institute of Advanced Industrial Science and TechnologyTsukuba, IbarakiJapan

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