The Mechanisms in a Humanoid Robot Hand

Authors:
Yoky Matsuoka
Affiliations:
Massachusetts Institute of Technology, Artificial Intelligence Lab, 545 Technology Square, Cambridge, MA 02139, U.S.A. E-mail: yoky@ai.mit.edu
Venue:
Autonomous Robots
Year:
1997

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Abstract

We have constructed and tested a robotic hand that is a part of ahumanoid being developed at the MIT Artificial IntelligenceLaboratory. It is a human-scale cable-driven tool containing fouractuators, thirty-six sensors, and computing tools on board. Thecombination of its conciseness and sensing capability allows anintegration with other anthropomorphically scaled systems. Thispaper presents a detailed description of the mechanical design andits implementation, including the structure of the physical hand,tendon cabling strategy, actuators, sensors and computingtools.