Design and Control of a Dexterous Multi-fingered Robot Hand

This paper presents a three-fingered robot hand, called the KIST hand, Which have one active joint and one passive joint. The thumb is fixed on the palm, and the index and the middle take lateral motions symmetrically. A mechanical clutch and an embedded force sensor, attached on the distal link of the fingers, enable the KIST hand to perform human-like functions. A result of experiment shows reliable grasping performance of the hand which maintain stable grasp under disturbances.