The Mechanisms in a Humanoid Robot Hand
Journal Article, Autonomous Robots, Vol. 4, No. 2, pp. 199 - 209, May, 1997
Abstract
We have constructed and tested a robotic hand that is a part of a humanoid being developed at the MIT Artificial Intelligence Laboratory. It is a human-scale cable-driven tool containing four actuators, thirty-six sensors, and computing tools on board. The combination of its conciseness and sensing capability allows an integration with other anthropomorphically scaled systems. This paper presents a detailed description of the mechanical design and its implementation, including the structure of the physical hand, tendon cabling strategy, actuators, sensors and computing tools.
BibTeX
@article{Matsuoka-1997-16492,author = {Yoky Matsuoka},
title = {The Mechanisms in a Humanoid Robot Hand},
journal = {Autonomous Robots},
year = {1997},
month = {May},
volume = {4},
number = {2},
pages = {199 - 209},
}
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