RIM Hand: A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure

Area of Science:

• Biomimetic robotics
• Robotic hand design
• Materials science

Background:

• Current robotic hands often lack the dexterity and compliance of human hands.
• Replicating the complex anatomy and flexibility of the human hand is a significant challenge in robotics.

Purpose of the Study:

• To present the flexible RIM Hand, a biomimetic robotic hand.
• To enhance robotic grasping capabilities through biomimicry and advanced materials.

Main Methods:

• Modeled the full carpal-to-metacarpal anatomy for realistic palm deformation.
• Utilized superelastic Nitinol wires for the skeletal framework and dorsal extensors.
• Incorporated a flexible silicone skin to improve grasp stability.

Main Results:

• The RIM Hand's palm achieved up to 28% deformation, matching human hand flexibility.
• Demonstrated more than double the payload capacity compared to rigid palm designs.
• Achieved three times the contact area, enhancing stable grasps for diverse objects.

Conclusions:

• The flexible RIM Hand offers improved dexterity, compliance, and anthropomorphism.
• This biomimetic design shows significant promise for prosthetic and service-robot applications.
• Nitinol and flexible skin integration contribute to enhanced robotic hand performance.