A Tendon-Driven Dexterous Hand Design with Tactile Sensor Array for Grasping and Manipulation*

Abstract

This paper presents a tendon-driven dexterous hand with tactile sensor array. The proposed modularized dexterous hand that has optimized finger structure, tendon transmission and sensory system is introduced. The tendon path is optimized to reduce friction and the whole composition of finger is more compact. In order to maintain the tension of tendon, a novel tensioner is designed and mounted between the actuators and the hand. Then the high-density tactile sensor array is elaborated.It has the advantages of high measuring accuracy, high-density array, easy to install. Meanwhile, the control system of the dexterous hand is introduced. Finally several experiments are implemented to prove the effectiveness of the proposed tendon-driven dexterous hand.