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Maximizing anthropomorphic grasping abilities of bio-inspired underactuated robotic hands
Jiaji Ma1, Bai-Yang Sun1, Dai Chu1
1Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, People's Republic of China.
Bioinspiration & Biomimetics
|September 23, 2025
Summary
This study presents a new framework for designing bio-inspired robotic hands, optimizing their grasp performance by mimicking human hand synergies. The method enhances robotic grasping capabilities through systematic parameter optimization.
Area of Science:
- Robotics
- Biomechanical Engineering
- Neuroscience
Background:
- Underactuated robotic hands are inspired by human hand synergies for grasping.
- A generalized method to optimize parameters for anthropomorphic grasping is lacking.
Purpose of the Study:
- To propose a novel framework for designing underactuated robotic hands.
- To maximize biomimetic and grasping performance using Hertz contact theory.
Main Methods:
- Developed a general underactuated grasping model using Hertz contact theory.
- Integrated human hand morphology and motion data with robotic hand parameters.
- Implemented a sequential parameter grouping strategy for optimization.
Main Results:
- A dual-actuated robotic hand was designed and validated.
- Optimized parameters significantly improved grasping capabilities compared to unaltered schemes.
- Simulations and experiments confirmed the framework's effectiveness.
Conclusions:
- The proposed framework offers a systematic approach to designing anthropomorphic robotic hands.
- This method bridges biological inspiration and engineering implementation for underactuated robots.
- The approach has potential applications in bionic systems and advanced robotics.
