A TendonDriven Dexterous Hand Design with Tactile Sensor Array for Grasping and Manipulation * This paper presents a tendondriven dexterous hand with tactile sensor array. The proposed modularized dexterous hand that has optimized finger structure, tendon transmission and sensory system is introduced. The tendon path is optimized to reduce friction and the whole composition of finger is more compact. In order to maintain the tension of tendon, a novel tensioner is designed and mounted between the actuators and the hand. Then the highdensity tactile sensor array is elaborated.It has the advantages of high measuring accuracy, highdensity array, easy to install. Meanwhile, the control system of the dexterous hand is introduced. Finally several experiments are implemented to prove the effectiveness of the proposed tendondriven dexterous hand.

Kinematic Optimization of Tendonsheath Actuated Hand With the continuous development of robot applications, humanoid dexterous hands has become an important research direction. In this paper, a fivefinger humanoid dexterous hand is designed. The tendonsheath transmission is applied, which avoids the coupling between the joints. The dexterous hand is comprised of 19 degrees of freedom. Built on the concept of bionics, the dexterous hand is designed and the inverse kinematics of the dexterous hand is analyzed. And then, the relevant parameters of the hand are optimized with the targets of dexterity and the maximizing grabbing space. The optimized parameters were used in the manufacture, and the rationality of design was verified by experiments of flexibility and grasping ability.