High-degree-of-freedom robotic hand

High-DOF Robot Hand Combining Palm-Integrated Motors with Wire and Gear Drives

This technology is a high-degree-of-freedom (DOF) robot hand design that features multiple motor sets within the palm module, combining wire and gear drive systems to enable finger flexion/extension and abduction/adduction.

Conventional tendon-driven robot hands often require the drive unit to be mounted on the forearm due to the bulk of the motors and controllers, which limits their practical application and increases the overall system size.

This technology integrates the drive module within the palm, utilizing a bearing array to control wire paths for each finger joint and a stopper member to limit motor rotation, thereby achieving independent multi-DOF control. Additionally, the palm and finger modules are designed to be detachable, enhancing maintenance convenience. Suitable for humanoids, manufacturing automation, and service robots, this design enables multi-DOF movement and easy maintenance entirely within the palm, eliminating the need for forearm-mounted drives.

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Key Features:

• A second finger module comprising a second base frame detachably coupled to the other side of the palm module, and a second finger unit connected to the base frame and composed of a plurality of second phalanges.
• The drive module includes a wire drive unit that provides driving force to wires individually connected to each of the plurality of first phalanges and the plurality of second phalanges.
• A first finger module comprising at least two or more first finger units, each composed of a plurality of first phalanges.
• A drive module mounted inside the palm module that operates at least two or more first finger units and the second finger unit.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of robot task control technology capable of grasping and manipulating various objects in daily life environments and utilizing tools based on multimodal perception.