Journal of Control Engineering and Applied Informatics
Design of Larm Hand: Problems and Solutions
Abstract
This paper addresses main design issues for developing a low-cost easy-operation
robotic hand named as LARM Hand. Design evolution of LARM Hand is reported by describing
peculiarities and differences among LARM Hand from version I to version IV. Special attention
has been addressed to the design characteristics of a 1 degree-of-freedom (DOF) driving
mechanism that can be embedded into the finger body and can actuate the three phalanxes of a
human-like robotic finger. Attention has been also focused to selection, location, and use of proper
force sensors together with an easy operation force control architecture.
robotic hand named as LARM Hand. Design evolution of LARM Hand is reported by describing
peculiarities and differences among LARM Hand from version I to version IV. Special attention
has been addressed to the design characteristics of a 1 degree-of-freedom (DOF) driving
mechanism that can be embedded into the finger body and can actuate the three phalanxes of a
human-like robotic finger. Attention has been also focused to selection, location, and use of proper
force sensors together with an easy operation force control architecture.