Development of a coupled tendom driven robot hand

  • Choi, H.R. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Lee, Y.T. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Kim, J.H. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Chung, W.K. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600)
  • Published : 1993.10.01

Abstract

The POSTECH Hand adopting coupled tendon driven technique with planar two fingers is developed. The hand is designed to emulate principal motions of the human hand which has two and three joints respectively. Its kinematic parameters are determined through a parameter optimizing technique to aim at improving the isotropy of fingertip motions with new criterion functions of design. For the control of the hand, tension and torque control algorithms are developed. Based on the virtual stiffness concept, we develop the stiffness control method of a grasped object with redundant finger mechnism and investigate experimentally.

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