Numerous studies have been conducted on three-finger robot hands, which are widely used in industries. These studies led to the development of motorized prosthetic hands for amputees. Although many developers have focused on the functionality of motorized prosthetic hands, prosthetic users place more importance on the human-like motion of the device owing to social implications. Therefore, this study aims to achieve human-like flexion of a three-finger robot hand. Each finger contains three phalanges joined by pivots and torsional return springs. A tendon wire runs through guide pins inside the phalanges up to the linear actuator located in the forearm. When the tendon wire is pulled, the finger is flexed. The return springs are optimally selected based on ADAMS simulations and kinesiology of the human hand. The selection is then verified by experiments

已经对三指机器人手进行了大量研究，三指机器人手已广泛用于工业中。这些研究导致了截肢者机动假肢的发展。尽管许多开发人员专注于电动假肢手的功能，但由于社会影响，假肢使用者更加重视设备的类人动作。因此，本研究旨在实现三指机器人手的类人弯曲。每个手指包含三个指骨，这些指骨由枢轴和扭转复位弹簧连接。一根筋线穿过指骨内部的导向销，直至位于前臂的线性致动器。拉伸肌腱钢丝时，手指会弯曲。复位弹簧是根据ADAMS模拟和人手运动学进行最佳选择的。