Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand
Overview
A new robotic hand with 17 degrees of freedom uses a bidirectional antagonistic tendon system for dexterous grasping on both palmar and dorsal sides. Research published on arXiv.
Generated from attributed reports · 4 days agoUpdated
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · average motor-to-joint transmission error: 3 percent · Basis not reported
“average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm.”
Exact source · revision 1Source owner not reported
Reported quantity · average joint transmission bandwidth: 13.2 hours · Basis not reported
“average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm.”
Exact source · revision 1Source owner not reported
Reported quantity · maximum fingertip force: 29 percent · Basis not reported
“average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm.”
Exact source · revision 1Source owner not reported
Reported quantity · positioning repeatability: 0.15 other · Basis not reported
“average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsDesign and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
This paper presents an anthropomorphic, human-scale robotic hand with 17 degrees of freedom, built on a bidirectional antagonistic tendon-routing mechanism. The hand enables grasping on both the palmar and dorsal sides, achieving a Kapandji score of 8 and successfully performing all 33 GRASP Taxonomy grasp types. Experimental results show an average motor-to-joint transmission error of 3.0% and a maximum fingertip force of 29 N.
Event attention history
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