Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand

Area of Science:

• Robotics
• Biomimetic Design
• Materials Science

Background:

• Soft body and anthropomorphic designs are key trends in robotic hand development.
• Creating human-like grasping ability in a simple, reliable soft robotic hand remains a challenge.

Purpose of the Study:

• To present an anatomically correct, 3D-printable robotic hand model.
• To achieve human hand functionality using a single, elastic 3D-printable material.

Main Methods:

• Developed an anatomically correct robotic hand 3D model incorporating bones, ligaments, tendons, pulley systems, and tissue.
• Fabricated the robotic hand using a single type of elastic 50 A (shore durometer) resin via 3D printing.
• Experimental evaluation of motion range, grasping strength, and comparison with existing designs.

Main Results:

• The 3D-printed robotic hand demonstrated a motion range comparable to a human hand.
• The design achieved substantial grasping strength.
• Significantly reduced fabrication cost and assembly time compared to other anthropomorphic robotic hands.

Conclusions:

• The proposed robotic hand design offers a novel approach to creating functional, anthropomorphic robotic hands.
• The single-material, 3D-printable nature simplifies production and reduces costs.
• This design may influence future developments in robotic hands and related mechanical structures.