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In the robotic community more and more hands are developed. Based on the experience of HIT Hand and DLR Hand Ⅱ, a smaller and easier manufactured dexterous robot hand with multisen-sory function and high integration is jointly developed. The prototype of the hand is successfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFs and 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. It also has an additional DOF to realize motion of the thumb relative to the palm. The fingertip force can reach up to 10N. Full integration of mechanical body, actuation system, multisensory system and electronics is a significant feature. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 2 lines.
Based on the experience of HIT Hand and DLR Hand II, a smaller and more manufactured dexterous robot hand with multisen-sory function and high integration is jointly developed. The prototype of the hand is successfully It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFs and 4 joints, the last 2 joints are mechanically coupled by means of four- bar linkage mechanism. It also has an additional DOF to realize motion of the thumb relative to the palm. The Fingertip force can reach up to 10N. Full integration of mechanical body, actuation system, multisensory system and electronics is a significant feature. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 2 lines.