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This paper presents a 3D-printed anthropomorphic hand design that improves dexterity and stability by adding abduction and adduction movements to the metacarpophalangeal (MCP) joints, increasing degrees of freedom (DoF) from 17 to 19. Based on the InMoov hand model, present modifications enable independent lateral finger motions, broadening the hand’s operational range. Through a mathematical model and ANSYS-based finite element analysis, valuable insights into the dynamic mechanical behaviour of robotic arm can be observed. The resulting expanded workspace enhances adaptability, proficiency, and diversity in performance of tasks expected from the robotic arm. Based on the observations, the potential applications and future enhancements in prosthetics and robotics have also been included.

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Enhancing the Dexterity and Stability of a 3D-Printed Robotic Hand with Adduction and Abduction Movements

  • 会议论文

  • 发表日期：

    2026年

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  • Prashant,
  • Rajat Sinha,
  • Sachin Kaim,
  • Vinay Panwar,
  • Santosh Kumar Rai

摘要

This paper presents a 3D-printed anthropomorphic hand design that improves dexterity and stability by adding abduction and adduction movements to the metacarpophalangeal (MCP) joints, increasing degrees of freedom (DoF) from 17 to 19. Based on the InMoov hand model, present modifications enable independent lateral finger motions, broadening the hand’s operational range. Through a mathematical model and ANSYS-based finite element analysis, valuable insights into the dynamic mechanical behaviour of robotic arm can be observed. The resulting expanded workspace enhances adaptability, proficiency, and diversity in performance of tasks expected from the robotic arm. Based on the observations, the potential applications and future enhancements in prosthetics and robotics have also been included.