Kinematic design of a finger abduction mechanism for an anthropomorphic robotic hand

This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its complexity. The analysis of the link between the index finger and the third finger is first assessed, where the parameters are studied in order to follow the amplitude constraint and to minimize the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized. Finally, a prototype of the finger's abduction system is presented. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.