Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Muhammad Faiz Rahman, Kaiqiang Zhang, Guido Herrmann

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing
both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.
Original languageEnglish
Title of host publicationTAROS 2019
Subtitle of host publicationTowards Autonomous Robotic Systems
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Number of pages4
ISBN (Electronic)978-3-030-25332-5
ISBN (Print)978-3-030-25331-8
Publication statusE-pub ahead of print - 17 Jul 2019
EventTowards Autonomous Robotic Systems (TAROS 2019) - Queen Mary, Queen Mary University of London, London, United Kingdom
Duration: 3 Jul 20195 Jul 2019
Conference number: 20

Publication series

NameLecture Notes in Artificial Intelligence
PublisherSpringer, Cham
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Computer Science
PublisherSpringer, Chem
ISSN (Print)0302-9743


ConferenceTowards Autonomous Robotic Systems (TAROS 2019)
Abbreviated titleTAROS 2019
CountryUnited Kingdom
Internet address


  • Anthropomorphic robot hand
  • Flexible fingers
  • Additive manufacturing
  • Twisted string actuators

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