Design of a Modular Anthropomorphic Hand with Integrated Monolithic Compliant Fingers and Wrist Joint

This paper introduces a novel modular anthropomorphic robotic hand, leveraging the freedom and constraint topologies (FACT) framework to create advanced compliant mechanisms that replicate human joints characteristics. The design features a modular underactuated monolithic compliant finger with 7 degrees of freedom and a thumb with 5 degrees of freedom, as well skin-like attributes, alongside a monolithic compliant wrist with 2 degrees of freedom, resulting in a lightweight, versatile, and practical hand that mimics human dexterity for a broad range of robotic applications. Our design prioritizes user repairability and modularity, facilitating easy attachment and detachment of cable-driven fingers without specialized tools. Finger design includes a flexible skin module for adaptive grasping and embedded touch transmission mechanism incorporating a Force Sensing Resistor (FSR) for tactile feedback, enabling precise gestures and robust grip through a cable-driven actuation with a differential system to achieve 2 types of motion using one motor, offering decoupled modes of grasping: complete and partial flexion-extension only of the distal phalanx using three cables, as well is able to performer abduction-adduction motion by using a second motor with a single pair of cables. Additionally, the hand incorporates a monolithic compliant wrist joint, offering 2 degrees of freedom to provide seamless, natural movement that closely replicates the human wrist's flexion and extension, as well as radial and ulnar deviation, controlled by one motor and a pair of cables each. The hand has been designed to be manufactured using additive methods allowing the entire hand to be produced in a single print session using low-cost filaments for desktop 3D printer such as PETG and PLA, ensuring economic feasibility and wide reproducibility for various robotic systems, this development represents a significant advancement in robotics, providing a sophisticated yet accessible solution for robotic manipulators tools.