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Updated: Nov 27, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
Published on: October 27, 2023
A flexible self-recovery finger joint for a tendon-driven robot hand
Dong Jun Oh1, Zheng Yuan Li1, Jae Hyeon Kim1
1School of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, South Korea.
Abstract:
This paper presents a new biomimetic soft finger joint with elastic ligaments for enhanced restoration capability. A hemisphere-shaped flexible finger joint is designed to secure omnidirectional restoration and guarantee a reliable recovery function. Joint design comparative studies for enhancing restoration are presented with joint mechanisms and potential energy formulation analyses. A ligament design that enables an efficient grasping mode switch from power to pinch grasping is also considered. By using the presented joint and ligament, a tendon-driven robot hand is assembled. For the finger's biomimetic features, the hand provides a reasonably secure grasping operation for various complicated objects with minimum controls. The impact test and grasping experiments confirmed that the fabricated hand has the right amount of passive compliance in all directions as designed, and the restoration to the original state is also stably performed.
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