Design and Experiments of a Modular Dexterous Hand

The goal of the existing dexterous hands is to achieve multi-function, compact structure, and simple control, which makes it difficult to be installed and disassembled, and the application of fingers is limited. In order to realize the flexibility and convenience of dexterous hand application, this paper proposes the design and experiments of a modular dexterous hand based on human hand biology. Firstly, the movement characteristics of the human hand are combined with its biological tissue structure to analyze its movement laws. The synergy and independence of finger movements were summarized. Secondly, based on the biological proper-ties of the human hand, a design method for a modular dexterous hand is proposed. The flexion and extension (F /E) of the finger adopts the design method of compliance drive and flexible coupling, so that it can achieve great adaptability to the object. Combined with independent adduction and abduction (Ad/ Ab), the dexterity of the fingers is guaranteed. Finally, through the rapid combination of modular fingers, two-fingered hand, three-fingered hand, and humanoid hand were developed, and grasping and manipulation experiments were carried out to verify the feasibility of the design.