An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

Abstract This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. takes advantages both tendon-driven linkage-driven systems, leading to a compact mechanical structure that aims imitate mobility human hand. Based on investigation anatomical related existing hands, design II is presented. Then, using D-H convention, kinematics this formulated illustrated with numerical simulations. Furthermore, fingertip force deduced analyzed, mechatronic system integration control strategy are addressed. Subsequently, prototype proposed developed, integrated low-level system, following which empirical study carried out, demonstrates capable implementing grasp manipulation most objects used in daily life. In addition, three widely tools, i.e., Kapandji score test, Cutkosky taxonomy, Kamakura evaluate performance hand, evidences possesses high dexterity excellent grasping capability; object also demonstrated. hence type novel tendon–linkage-integrated laying broader background for low-cost hands industrial prosthetic use.