A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Developing a dexterous robotic hand that mimics natural human movements is challenging due to complicated anatomy. Such practical design should address several requirements, which are often conflicting and force the designer prioritize main characteristics for given application. Therefore, in existing designs requirements only partially satisfied, leading bulky solutions. To this gap, novel single-actuated, cable-driven, self-contained presented work. This five-fingered supports 19 degrees of freedom (DOFs) can perform wide range precision power grasps. The external structure fingers thumb inspired by Pisa/IIT SoftHand, while major modifications implemented significantly decrease number parts effect friction. cable configuration tendon Furthermore, transmission system mechanism addresses compactness underactuation, ensuring proper distribution through thumb. Moreover, achieve adaptive grasps objects with unknown geometries, simplifies sensory control systems. A 3D-printed prototype proposed fabricated its base functionality evaluated simulations experiments.