Master-Slave Design and Control of Five-Finger Dexterous Hand Based on Tendon-Sheath Transmission

Abstract

In order to make the dexterous hand more lightweight and anthropomorphic, a 19-joint anthropomorphic dexterous hand driven by the servo through the Tendon-Sheath transmission was designed. First, the configuration of the dexterous hand is determined with reference to the joints of the human hand, and the decoupling and driving of the joint motion are realized through the Tendon-Sheath transmission, and the joint mechanism and the driving integration are designed respectively. Then, based on the bending sensor and master-slave mapping algorithm, the grasping master-slave tracking control is realized. Finally, a dexterous hand prototype is built, joint motion experiments and grab control experiments are carried out. It can be seen from the experimental results that the designed dexterous hand has high movement flexibility, and the cooperation of each finger can realize the effective grasping of objects such as water bottles and apples. The experimental results show that it is feasible to apply the Tendon-Sheath transmission to the dexterous hand. Based on the master-slave control, the dexterous hand can grasp various objects.