A compound robotic hand with two under-actuated fingers and a continuous finger

This Paper proposes a compound robotic hand that benefits the features of both underactuated and continuous systems. This hand consists of two underactuated tendon-driven fingers and a single section continuous finger. The continuous finger helps to increase the Manipulation capabilities of grasping. Each underactuated finger is composed of three phalanges that are actuated with one tendon with appropriate embedded tendon guide, and the continuous finger is driven by three cables. By pulling the wire using mechanically driven actuators, the flexion of the three-phalange fingers and the desired shape of the continuous finger are obtained. After the conceptual design, fabrication, and performance analysis of the hand, Kinematic equations of the continuous finger are discussed, and finally, the form-closure property of grasp is studied.