The Experimental Video of "The Design and Implementation of a Cable-driven Three-Fingered Robotic Hand"

Therefore, mimicking the dexterous functionality of human hands via a electromechanical system is an essential need. However, how to layout the high degrees-of-freedom (DoFs) in limited space and address the mechanical coupling problem is challenging for the design and implementation of robotic dexterous hands. Therefore, in this study, we design and implement a fully actuated three fingered dexterous hand driven by a wire traction mechanism. Through a rope arrangement and joint design, we achieve the layout and mechanical decoupling of all the 11 DoFs, which reduces the control difficulty of the dexterous hand. This design also intends to solve the problems of difficulty in layout and severe mechanical coupling.

In addition, a rope tensioning device is designed to adapt to the length changes and guarantee the tension of ropes, which is able to decrease the maintenance cost and difficulty. Finally, we achieve a dexterous hand has a high DoF similar to that of a human hand, while also maintaining the slenderness of the fingers similar to that of humans. The performance of the dexterous hand was tested to validate the effectiveness of our proposed mechanism and the rope tensioning device.This dataset describes the "test of fully actuated and uncoupled properties of dexterous hand with one finger" and the "dexterous hand grasping experiment" in this paper