The goal of this research project is to model the kinematic properties of a human hand so that better anthropomorphic robotic grippers or manipulators can be developed.
These new designs and strategies will be used for user friendly human machine interface and for upper limb rehabilitation technologies.
[3] Each finger is treated as an individual robot, giving the overall system, from the wrist on, 20 DOF in total.
This transmission system is more accurate than the ones uses by previous robotic hands, and is thus more suitable for the implementation of complex trajectory algorithms, such as adduction and abduction capacity for both the fingers and the thumb.
[1] The computational hardware is based on a GE FANUC microcontroller with a G4 processor, mounted on a standard compact PCI bus.