DEXTEROUS HANDS - ISSUES RELATING TO A 4-FINGER ARTICULATED HAND

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and finger tip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. The state of the art in manipulati on by multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Such remotely driven hands require comp utation of tendon displacement for evaluating joint space vectors befo re signals are sent to actuators. Alternatively, a direct drive hand i s a mechanical hand in which the shafts of articulated joints are dire ctly coupled to the rotors of motors with high output torques. This ar ticle has been divided into two main sections. The first section prese nts a brief view of manipulation using a direct drive approach. Meanwh ile, the other section presents ongoing research which is being carrie d out to design a four-finger articulated hand in the Department of Cy bernetics at the University of Reading.