Tendon Driven Dexterous Hands Based on Airbag Structure

A tendon driven dexterous hand based on airbag structure is proposed, which has the advantages of simple actuation, light weight and flexibility. Firstly, the finger structure of the dexterous hand driven by tendon rope and the root joint structure driven by airbag are introduced, where the root joint based on airbag structure consists of six parts: airbag, tension spring, rotating connector, bearing, circlip and palm connection support. Next, the kinematic model of the dexterous finger is established and the motion space is derived. At the same time, the kinematic model of the fingertip is derived, and the lateral swing force, lateral swing moment and lateral swing angle of the finger are analyzed after adding the airbag driving structure, and the 3D motion simulation is carried out. An experimental platform is built to test the performance of the dexterous hand, and the effectiveness of the developed tendon-driven dexterous hand design based on the airbag structure is verified through the grasping experiments of various objects.