System Design and Kinematic Analysis of a Dexterous Hand with Humanoid Characteristics

Most current prosthetic hands are costly, with low-degrees of freedom (DoF), limited range of motion, low flexibility, poor bionic performance. This study developed a low-cost, multiple DoFs, highly flexible, humanoid dexterous hand and introduced its mechanical structure, circuit system, and kinematic analysis. The mechanical structure of the dexterous hand was achieved by 3D printing using photopolymer resin. The circuit system was divided into two parts: the mainboard and the driver board. Additionally, kinematic analysis of the dexterous hand with the workspace of the fingertips was achieved using the Denavit-Hartenber parameter method. The digits achieved flexion/extension and adduction/abduction movements of 15 joints through a hybrid transmission of tendons and linkages. The circuit system enabled force feedback signal acquisition and drived 15 small DC geared motors. Kinematic analysis revealed that the fingertips of the dexterous hand have a large workspace. This new dexterous hand were of great practical significance for restoring hand function and improving the quality of life for amputees.