Design of a biomechatronic hand (BMT-H) actuated by the flexor-extensor mechanism

This paper presents a design of an anthropomorphic biomechatronic hand, focusing on the design of the fingers and its bio-inspired flexor-extensor like low-level control. The kinematic description, the detailed explanation and presentation of the 3D CAD design are included. The description of the applied 3D tactile and magnetic sensors are also detailed in the article. Matlab simulation results and also the first experiments of the hardware prototype gave promising results and show that the approach can be an effective solution for the need of a hand-like actuator in robotics.