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— The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of(More)
The paper first discusses the reasons why simplified solutions for the mechanical structure of fingers in robotic hands should be considered a worthy design goal. After a brief discussion about the mechanical solutions proposed so far for robotic fingers, a different design approach is proposed. It considers finger structures made of rigid links connected(More)
In this paper, an overall description of the design of a robotic hand is discussed, with particular attention to the required sensory subsystem, its integration within the mechanical structure of the hand and the required control architecture. Different solutions for the joint configuration and the structure of the tendon network adopted for the(More)
In this paper, some considerations about the state of the art and the current trends in the design and control of " robot hands " are reported and discussed. The authors, on the basis of a long research activity for the development of robotic end-effectors and related technologies, address what they consider key-points for the development of " dextrous(More)
— The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This(More)