Anthropomorphic Robot Hand

This research is concentrated to the development of dexterous grasp and the re-grasp planning algorithm using robotic hand. (Grasping algorithm)

The robot hand has 13 degree of freedom. On each joint, BLDC motor is attached. So the robot hand can do precision movement by using the harmonic driver. The robot hand also has J/T sensors and 6-axis F/T sensors on each finger modules.

This subject deals finding grasping point and force on the object. Also, when robot hand did grasp, processor decides that the current status satisfies force closure using sensors. If current status not satisfies force closure, then robotic hand will change its position and force.