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.
