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Based on the structural characteristics of the human hand, a tendon-driven dexterous hand was designed. Starting from the transmission and structure aspects of the dexterous hand, the structural design scheme of the dexterous hand under tendon-driven transmission was studied. Then, the kinematics of the fingers were derived, and finally, grasping experiments of the dexterous hand were conducted. The results showed that the designed dexterous hand could achieve stable and reliable grasping of regular objects.

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Design and Control of Tendon-Driven Dexterous Hands

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年

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  • Minggao Guo,
  • Yang Liu,
  • Yage Wang

摘要

Based on the structural characteristics of the human hand, a tendon-driven dexterous hand was designed. Starting from the transmission and structure aspects of the dexterous hand, the structural design scheme of the dexterous hand under tendon-driven transmission was studied. Then, the kinematics of the fingers were derived, and finally, grasping experiments of the dexterous hand were conducted. The results showed that the designed dexterous hand could achieve stable and reliable grasping of regular objects.