Research on the Design and Development of a 3D Printed Robot Hand with Skin and Skeleton in One Piece, and Performance Verification Experiments

Robot hands that imitate the shape of a human hand have been studied extensively, but they generally have a large number of parts and are not easy to assemble. To address this problem, we proposed a skin-skeleton integrated robotic hand that has 15 degrees of freedom and consists of four parts. The developed robot hand is mostly composed of a single part with 12 joints and can be easily assembled. Experiments confirmed that all of the 16 grasping postures can be realized.