Design and Development of an Animatronic Hand with Adaptive Grasping

Achieving human-like dexterity in robotic hands requires a balance between mechanical complexity and adaptive control strategies to ensure efficient and versatile grasping. Traditional robotic hands either rely on complex fully actuated designs or on underactuated mechanisms that lack adaptability. This paper presents a novel animatronic hand with six degrees of freedom (DOF), integrating underactuated grasping, tactile sensing, and ROS2-based perception for real-time object detection. The mechanical structure is 3D printed to ensure cost-effectiveness, while the control system employs force-sensitive resistors (FSR) and real-time force adjustment algorithms to dynamically adapt to different objects. The experimental evaluation demonstrates high grasping accuracy, real-time adaptability, and stable performance across multiple objects, validating the system’s potential for applications in assistive robotics, automation, and human-robot interaction.