high performance anthropomorphic robot hand with grasp force

High Performance Anthropomorphic Robot Hand with Grasp Force

Magnification Mechanism

Takeshi Takaki and Toru Omata

Abstract— This paper presents a lightweight 328 g anthro-pomorphic robot hand that can exert a large grasp force. Wepropose a combination mechanism of a flexion-drive and aforce-magnification-drive for a cable driven multifingered robothand. The flexion-drive consisting of a feed screw enablesquick motion of its fingers and the force-magnification-driveconsisting of an eccentric cam, a bearing and a pulley enablesa firm grasp. This paper also proposes a three-dimensionallinkage for the thumb. This linkage consists of four links andis driven by a feed screw. It can oppose to a large force exertedby the other fingers with the force-magnification-drive. Thesemechanisms are compact enough to be installed in the developedlightweight hand. We experimentally verify that the maximumfingertip force of the hand exceeds 20 N and that the thumb canhold a large force of 100 N. The time to fully close the hand byusing the flexion-drives is 0.47 s. After the fingers make contactwith an object, the time to achieve a firm grasp by using thegrasp-magnification-drive is approximately 1 s.

I. INTRODUCTION

Robot hands [1]-[20] should be compact and light weight.

They should also be able to move their fingers quickly

before grasping an object and be able to exert a large grasp

force when grasping the object. To meet these requirements

with a fixed reduction ratio, the hand needs to use large

motors, which makes the hand large and heavy. If the perfor-

mances of electromagnetic motors are improved, the speed

and force performances could be improved simultaneously

without increasing the weight of the hand. However, drastic

improvement of electromagnetic motors is not promising. As

a solution, we focused on power transmission mechanisms

for a robot hand. We have already proposed a load-sensitive

continuously variable transmission for a robot finger [30][31]

and a force-magnification-drive for a parallel jaw gripper

[32].

The purpose of this study is to develop a high perfor-

mance lightweight anthropomorphic robot hand. Its possible

application is a prosthetic hand. It is much more desir-

able that prosthetic hands [21]-[29] should be compact and

light weight than usual robot hands for industrial applica-

tions since they are attached to human arms. The above

mentioned mechanisms are still too heavy and large to

be embedded in a prosthetic hand. This paper proposes

a force-magnification-drive appropriate for a cable driven

T. Takaki studied this work at Department of Mechano-Micro Engineer-ing, Interdisciplinary Graduate School of Science and Engineering, TokyoInstitute of Technology, Japan. Now, he works at Department of ArtificialComplex Systems Engineering, Graduate School of Engineering HiroshimaUniversity, Japan. [email protected]

T. Omata is with Department of Mechano-Micro Engineering, Interdis-ciplinary Graduate School of Science and Engineering, Tokyo Institute ofTechnology, Japan.

lightweight robot hand and develops an anthropomorphic

hand. It has four flexion-drives, one force-magnification-

drive and a three-dimensional linkage. The four flexion-

drives drive the index, middle, ring and little fingers of the

hand independently, which generate a quick motion (These

fingers are referred to as four fingers in the sequel of this

paper). The force-magnification-drive drives the four fingers,

which enables a firm grasp. The three-dimensional linkage

enables the thumb to oppose a large force generated by

the four fingers. The number of motors is six: four for the

flexion-drives, one for the force-magnification-drive and one

for the three-dimensional linkage.

Table I shows the performances of multifingered robot

hands and prosthetic hands developed so far. The robot

hands [1]-[6] have good performances. However they are

too heavy for a prosthetic hand since they are designed

for an end-effector of a robot arm. The prosthetic hands

are light. Otto Bock Transcarpal-Hand weighs 320g and its

grasp force is 90 N [21]. Although it is appreciated by the

users, it has only one degree of freedom and its mechanical

functions are limited to opening and closing of its fingers.

The prosthetic hand in [22] has only one degree of freedom

as well. To enhance mechanical functions, it is desired that

prosthetic hands have more fingers and more motion degrees

of freedom. Recently, anthropomorphic prosthetic hands have

been presented [23]-[25]. The TBM Hand [23][24] is an

anthropomorphic hand driven by one motor with an adaptive

grasp mechanism. Its weight is 280 g and a maximum tri-

digital pinch force is 14 N. The time to fully close the hand

is 4-5 s. The SH2 [25] has independently driven five fingers.

Its weight is 368 g, fingertip force is 6.4 N, and the time to

fully close the hand is 2.2 s.

The developed hand weighs 328 g and its dimension is as

small as human hands. We experimentally verified that the

maximum fingertip force of the four fingers is 22 N and the

thumb can hold a large grasp force of 100 N. The time to

fully close the hand by using the flexion-drives is 0.47 s.

After the fingers make contact with an object, the time to

achieve a firm grasp by using the grasp-magnification-drive

is approximately 1 s.

This paper is organized as follows: Section II presents

the mechanisms of the developed hand. Section III shows

the experimental results which verify the effectiveness of the

proposed mechanisms.

2009 IEEE International Conference on Robotics and AutomationKobe International Conference CenterKobe, Japan, May 12-17, 2009

978-1-4244-2789-5/09/$25.00 ©2009 IEEE 1697

Authorized licensed use limited to: Carnegie Mellon Libraries. Downloaded on February 6, 2010 at 12:55 from IEEE Xplore. Restrictions apply.

TABLE I

PERFORMANCES OF MULTIFINGERED ROBOT HANDS AND PROSTHETIC HANDS

Project denomination Number of Number of Number of Fingertip force Weight Speed

fingers (*1) joints controlled DOF

DLR hand II[1]-[3] 4 17 13 30 N 1800 g 360 deg/s (each joint)

High-speed hand[4] 3 8 8 5.4 N (*2), 28.5 N (*3) 800 g 1800 deg/s (each joint)

Barrett hand[5][6] 3 8 4 15 N 1180 g 1.0 s (fully close)

Otto Bock Transcarpal-hand[21] 3 1 1 90 N 320 g130 mm/s (openingwidth: 100 mm)

TBM hand[23][24] 5 15 1 14 N 280 g 4 ∼ 5 s (fully close)

SH2[25] 5 14 5 6.4 N 368 g 2.2 s (fully close)

Developed hand 5 13 5 22 N 328 g0.47 s (fully close),1.5 s (firm grasp

(*1) Including thumb (*2) IP joint is 0 deg. (*3) IP joint is 90 deg.

II. MECHANISM FOR THE ANTHROPOMORPHIC ROBOT

HAND

A. Flexion-drive

Figure 1 shows the flexion-drive that achieves high speed

motion of a cable driven finger when it opens and closes.

The flexion drive simply consists of a feed screw with a low

reduction ratio and a slider to pull the cable.

Object

Motor 1Feed screwFlexion-drive

Slider

Finger

Fig. 1. High speed motion and flexion drive

B. Force-magnification-drive

Basic Mechanical design: To meet the speed and force

performances simultaneously, we propose adding another

mechanism, force-magnification-drive, that can exert a large

grasp force. It is embedded in the pulley and it shifts the

pulley to apply a large tension force to the cable as shown

in Fig. 2. When the force-magnification-drive is activated,

the flexion-drive must remain stationary. Therefore the feed

screw in the flexion-drive needs to be non-backdrivable so

that it does not turn when the tension force is applied to the

slider.

Eccentric cam mechanism: The force-magnification-drive

has an eccentric cam which is a disc with its center of

rotation positioned off the center as shown in Fig. 3. The

distance to the center (eccentricity) is e. O is the rotation

center of the cam and A is the point on its circumference

such that |OA| is maximum. The outer ring attached to the

cam with a bearing serves as a pulley. A large tension force

can be obtained by rotating the cam as shown in Fig. 3 (1)-

(3).

Cable(To a finger)

Force-magnification-drive

Non-backdrivable

LargeforceLarge

tention force

Fig. 2. Large tension force with the force-magnification-drive

T T T

Eccentric cam

Pulley

Rotation center

Bearing

A e

O

(1) (2) (3)

Fig. 3. Force magnification with the eccentric cam

x

T=0 T=kx

T

Elastic elementsObject

Tention force

Finger

Fig. 4. Elastic elements and tension force

Exerting a large tension force: All components of the

hand and a grasped object have elasticity. Therefore when

the hand exerts a large force, its components deform due to

the elasticity. Let x the length of the cable pulled by the

tension force T as shown in Fig. 4. We assume that they are

proportional.

T = kx. (1)

where k be the elastic constant.

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Let xf and xm be the lengths of the cable pulled by the

slider in the flexion-drive and the eccentric cam in the force-

magnification-drive, respectively. From Eq. (1), the tension

force T is given by:

T = k(xf + xm). (2)

Therefore, the tension force T can be computed from the

elastic constant k and xf and xm.

Let us compute the torque τ exerted by the eccentric cam

to generate the tension force T . Let θ be an angle of the

eccentric cam. We define the angle θ = 0 when OA is

horizontal as shown in Fig. 3 (3). When the eccentric cam

rotates an angle ∆θ, it pulls the cable ∆xm as shown in Fig.

5 (2). From the principle of virtual work , their relationship

is given by:

T∆xm = −τ∆θ. (3)

Let θ0 be the initial angle of θ. Assume that the cable is

rolled about the pulley 180 deg. xm is approximately given

by:

xm ≃ 2e(cos θ − cos θ0). (4)

Therefore, ∆xm ≃ (−2e sin θ)∆θ. From Eq. (3), T is given

by:

T ≃1

2e sin θτ. (5)

When θ → 0 as shown in Fig. 5 (3), 1/(2e sin θ) → ∞.

Therefore, a small torque τ can generate a large tension force

T . Figure 6 shows the relationship between the tension force

T , the torque τ and the angle θ when e = 1.5 mm, θ0 = 100deg, k = 30, 50 and 70 N/mm assuming that the flexion

drive initially generates the tension force of the cable T =20(= kxf ) N. At around θ = 0, the torque τ decreases

though the tension force T increases. Therefore, the proposed

mechanism can generate a large tension force T with a small

torque τ .

C. Fingers

Figure 7 shows the schematic diagram of the proposed

mechanisms for the anthropomorphic hand. The four fingers

have a single-cable driven connected differential mechanism

[33] that can envelop a grasped object automatically adapting

to its shape. Each joint of the four fingers has a torsion spring

as shown in Fig. 7 (B). When the tension force of the cable

is loosened, the finger ungrasps the object by the restoring

force of the spring. The mechanism of the thumb is shown

in section II-D.

The hand has four flexion-drives and one force-

magnification-drive, that is, each flexion-drive drives the

cable of each of the four fingers independently and the force-

magnification-drive drives all the cables of the four fingers

simultaneously. Therefore, four motors for the flexion-drives

(Motor 1) and one motor for the force-magnification-drive

(Motor 2) are installed in the hand. In the grasp operation

with less than four fingers, the fingers in contact with an

object generate a large force by the force-magnification-

drive. Other fingers move a little by the displacement xm of

the cable. However, this motion has no effect on the grasp

Eccentric cam

(STOP)

(2)

(1)

Slider

∆x

∆θ

θ θ

Eccentric cam

θ 0x

(3)

(DRIVE)

(DRIVE)

(DRIVE)

Slider

(Non-backdrivable)

(STOP)Slider

mx f

m 0

θ 0

θ=0

θ=0

Pulley

Eccentric cam(STOP)

(Non-backdrivable)

< Motion of the Flexion-drive >

The Finger makes contact

with an object

< Motion of the Force-magnification-drive >

x fFlexion-drive Force-magnification-drivexm

T=k (x +x )mf

T=k (x +x )mf

(Max)

A O

AO

O

A

−τ

Fig. 5. Motion of the flexion-drive and the force-magnification-drive

0

100

200

300

0 20 40 60 80 100

T [N

]

θ [deg]

00.10.20.30.40.5

0 20 40 60 80 100

τ [N

m]

θ [deg]

k=50 N/mm

k=30 N/mm

k=70 N/mmFirmGrasp

FirmGrasp

T=20 N

T=20 N

k=30 N/mm

k=50 N/mm

k=70 N/mm

Fig. 6. Relationship between θ, T and τ

operation. Therefore even if the four fingers do not grasp

an object, the proposed combination mechanism works for a

firm grasp.

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A

Spring

Wire

Motor 3

AA - A

Motor 1(x4)

Motor 2

Pulley,Bearing,Eccentric cam

Feedscrew

Slider

Force-magnification-drive

Flexion-drive

Pulley

B

Fig. 7. Structure of the proposed anthropomorphic hand

D. Three-dimensional linkage mechanism for the thumb

Figure 8 illustrates the proposed three-dimensional linkage

for the thumb. It has one degree of freedom consisting of four

links. Links 1 and 4 are the main body of the thumb and the

palm, respectively. Link 2 connected by the prismatic joint

on link 1 is the input of the linkage. Links 2 and 4 are jointed

by link 3 of which ends have spherical and universal joints,

respectively. When link 2 (input) is driven along (A), link 1

(thumb) rotates in the clockwise direction (B).

We consider that the thumb does not need to generate

a grasp force actively, because it is enough if the thumb

can hold the force generated by the fingers opposite to it.

Therefore, we select a non-backdrivable feed screw for the

power transmission of link 2 (input). The feed screw is driven

by motor 3 which is installed on the distal end of link 1

(thumb). Figure 9 shows the photo of the thumb. In practice,

the spherical joint is replaced with universal joint (1) and

revolute joint (2) and the universal joint is replaced with

revolute joint (4) and one degree of freedom slider (3) of

which feed screw is free to rotate serving as a revolute joint.

E. Developed anthropomorphic hand

Figure 10 shows the developed anthropomorphic hand. To

show its inside, the plate of its palm is removed in the

photo. Its weight is 328 g and dimensions are shown in

Table II. The four fingers are assembled by using the same

components. Except for the little finger, the hand is smaller

than the author’s hand. Four motors for the flexion-drives

(Motor 1) and one motor for the thumb (Motor 3) are the

same 1.2 W motor. The output of the motor for the force-

magnification-drive (Motor 2) is 3.0 W. Motor 1 drives the

Link 1

Link 2

Link 3 (Thumb)

Universal joint

Revolute joint

Prismatic joint

Motor 3

Feed Screw(Non-backdrivable)

Spherical joint

(Input)

(B)

(A)

Link 4

(palm)

(Thumb joint)

φ

Fig. 8. The three-dimensional linkage for the thumb

Thumb joint

(A)

(B) Slider

Feed screw

Universal joint

Revolute joint (3)

Revolute joint (4)

Spherical joint

Univerdal joint (1)

Revolute joint (2)Palm

Thumb

Fig. 9. Joints for the three-dimensional linkage

TABLE II

DIMENSION OF THE DEVELOPED ANTHROPOMORPHIC HAND

Components Dimension [mm]

Overall length 153

Palm (width, length, thickness) 74×69×24

Proximal, Middle and Distal phalanx 38, 20 and 22.5

Pulley diameter of MP, PIP and DIP joint 17.6, 8.4 and 4.0

feed screw with spur gears of which reduction ratio is 2.3. To

fit in the shape of the thumb, the feed screw of the thumb

and output of Motor 3 are connected by a universal joint

of which bended angle is 30 deg. The pitch of these feed

screws is 0.5 mm. Motor 2 drives the eccentric cams with a

planetary gears and spur gears of which reduction ratio are

275 and 1.2, respectively. The off center e of the eccentric

cam is 1.5 mm. The cable is 0.69 mm in diameter and its

material is poly-p-phenyleneterephthalamide (Kevlar).

III. EXPERIMENTS

A. Quick motion by the flexion-drive

We verify that the fingers can move quickly by using the

flexion-drive when they approach to an object. In the initial

state, the MP, PIP and DIP joints are stretched out. The

required time is measured 50 times when each joint flexes 90

deg as quickly as possible. Figure 11 shows the experimental

result. The average time is 0.47 s, which proves that the four

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Pulley, Bearing,

Eccentric cam

Motor 2,

planetary gear

Motor 3

Slider

Motor 1

Cable

Feed screw

Limit switch

DIP

PIP

MP

22.5mm

20mm

38mm

153mm

74mm

24mm

Universal

joint

Pulley

Fig. 10. Developed anthropomorphic hand

0

0.1

0.2

0.3

0.4

0.5

0 10 20 30 40 50

Tim

e [

s]

Number of grasping times

Fig. 11. Experimental results of required time to flex the joints

fingers can move quickly for a prosthetic hand.

B. Large fingertip force by the force-magnification-drive

If the tension force of the cable is constant, the fingertip

force is the minimum when the PIP and DIP joints are

stretched out. We evaluate the performance of the force-

magnification-drive in this worst case. To maintain this

configuration, the PIP and DIP joints are fixed by using a

plate as shown in Fig. 12.

The initial angles of the eccentric cam are set to θ0 =20 ∼ 100 deg every 20 deg. The fingertip force is measured

10 times with a force gage when the eccentric cam reaches

θ = 0 deg. Figure 13 shows the experimental result. For com-

parison, the fingertip forces without the force-magnification-

Force gage

Plate

73mm

Fig. 12. Experiment of measuring the fingertip force

Theoretical

0

5

10

15

20

25

0 20 40 60 80 100

Fin

gert

ip forc

e [N

]

θ0 [deg]

Fig. 13. Experimental results of the fingertip force

40

60

80

100

120

0 0.5 1 1.5 2

φout [d

eg]

Time [s]

Desired

Experimental

Fig. 14. Experimental results of the quick motion of the thumb

drive, which are generated only by the flexion-drive, are

also measured and plotted in the same figure when θ0 = 0deg. The average of them is only 2.9 N. Using the force-

magnification-drive, the fingertip force is increased to 22 N

on average when θ0 = 100 deg. This force is 7 times larger

than that without the force-magnification-drive. Figure 13

also shows the theoretical values of the fingertip force when

k = 42 N/mm They are close to the experiment values.

C. Capability of the thumb

We verify a quick motion and a mechanical strength of

the thumb. φ is an angle of the thumb joint as shown in Fig.

8. The joint of the thumb is driven from φ = 60 deg to 120deg as quickly as possible. Fig. 14 shows the experimental

result. The thumb can move 60 deg in 0.1 s.

The thumb must hold a large force exerted by the four

fingers. We verify that the thumb can hold a 10 kg (≃ 100N) object hung at 55 mm from the center of the thumb joint

as shown in Fig. 15. The thumb can perform pinching with

either the index, middle, or ring finger.

D. Grasping procedure

The procedure to grasp an object is as follows: (1) Close

each of the four fingers to an object with the flexion-drive.

(2) For each finger, detect the contact between the finger

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10kg

55mm

Fig. 15. Developed thumb holding a 10 kg load, and positional relationshipof the thumb and other fingers

and the object. (3) Cut the power supply for the flexion-drive,

and activate the force-magnification-drive to generate a large

grasp force. Contact detection is necessary to execute this

procedure automatically. We focus on the current of motor

1. If the voltage to the power supply is constant, the current

depends on the angular velocity of the finger joint. When the

finger makes contact with the object, the angular velocity of

the finger joint decreases and the current increases. However,

when the finger starts to move, the current also increases

for a short time. Therefore, the detection of a current that

exceeds a threshold value for a given period is regarded as

an occurrence of contact. We set the threshold and the period

to 0.23 A and 0.15 s, respectively.

We verify the grasp procedure by using all fingers. The

grasped object is a circular cylinder of diameter 45 mm.

Figure 16 shows the experimental result. The numbers in

the figures correspond to the above-mentioned procedure

numbers. At 0.27 s, the currents exceed the threshold value

and at 0.42 s, a contact is detected. After that, the eccentric

cams are driven to θ = 0. The grasp procedure is completed

at 1.5 s.

E. Firm grasp with five fingers

We verify that the force-magnification-drive can achieve

a firm enveloping grasp. Figure 17 shows the experimental

setup. The grasping object is the same as that in section III-

D. To make the surface of the object slippery purposely, it is

enveloped with OHP film as shown in Fig. 17. The object is

pulled in the direction of (a) with a cable. The pulling force

is measured by a force gage when the object starts to slip.

0

0.2

0.4

0.6

0.8

0 0.2 0.4 0.6 0.8 1 1.2 1.4

Curr

ent [A

]

Time [s]

IndexMiddle

RingLittle

Finger(1) (2) (3)

Contact with

an object

Threshold

020406080

100

0 0.2 0.4 0.6 0.8 1 1.2 1.4

θ [deg]

Time [s]

(1) (2) (3)

Fig. 16. Experimental results of grasping an object

Object

(a)

OHP film

Fig. 17. Experiment of an envelope grasp

0102030405060

0

θ

20 40 60 80 100 120

Tensio

n forc

e [N

]

[deg]0

Fig. 18. Experimental results of the grasp force

An initial angle of the eccentric cam is set to θ0 = 20 ∼100 deg every 20 deg. The pulling force is measured 10 times

when the eccentric cam reaches θ = 0 deg. Fig. 18 shows

the experimental result. For comparison, the pulling forces

without the force-magnification-drive, which are generated

only by the flexion-drive, are also measured and plotted in

the same figure when θ0 = 0 deg. It is only 7.9 N on average.

The force-magnification-drive increases the pulling force to

53 N on average when θ0 = 120 deg. This force is 6 times

larger than that without the force-magnification-drive. The

developed hand can crush an aluminum can by grasping

repeatedly as shown in Fig. 19.

IV. CONCLUSION

We developed the anthropomorphic robot hand that meet

force and speed performances simultaneously by using the

flexion-drive and the force-magnification-drive. The weight

1702


Fig. 19. Crush an aluminum can

of the hand is only 328g, and the maximum fingertip force

exceeds 20 N. We also proposed a three-dimensional linkage

for the thumb, which can hold a large force of 100N. The

time to fully close the hand is 0.47 s. After the fingers contact

an object, the time to achieve firm grasp is approximately 1 s.

Our future work is the validation of this hand as a prosthetic

hand by controlling it with myoelectric signals.

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