A multi-degree of freedom hand powered by two actuators

Describes a project the aim of which was the development of a dextrous robot hand which would have much of the flexibility of a human hand, yet in volume terms be comparable to the human hand and forearm. In designing a device to these specifications a gripper was produced which was capable of six independent and two dependent degrees of freedom, yet required only two primary motors. Furthermore, this arrangement simultaneously produced an end effector with great stiffness and compliance if required, without the need for a very sophisticated controller