Advances in Science, Technology and Engineering Systems Journal Vol. 8, No.

6, 65-77 (2023)
--ASTESJ
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Design of Bio-Inspired Robot Hand Using Multiple Types of Actuators

Traithep Wimonrut, Jittaboon Trichada, Narongsak Tirasuntarakul*, Eakkachai Pengwang

Institute of Field Robotics, King Mongkut’s University of Technology Thonburi, Bangkok, 10140, Thailand

ARTICLE INFO ABSTRACT

Article history: Many prosthetic hands are focused on appearance and grip strength, however, gestures are
Received:14 August, 2023 also one of the performances that users need for communicating with others as body
Accepted:14 November, 2023 language to express their feeling and intention. For this paper, the initial prototype of the
Online: 30 November, 2023 gesturing robotics hand is presented by using multiple types of actuators concept to maintain
its appearance while the number of degrees of freedom (DOFs) is increased. The gesture
Keywords:
performance of this robotic hand is improved by designing 2 DOFs in each finger; therefore,
Robotics hand
the entire hand has 15 joints, 10 DOFs, and one controllable wrist joint. In the detail of the
Multiple types of actuators
design, all actuating mechanisms of 3 joints for each finger are specifically designed to
Hand gestures
maintain the human limb appearance. The Distal Phalange joint (DIP) used a linkage
mechanism to acquire the Proximal Phalange joint's (PIP) movement by a 1:0.961 ratio due
to appearance designed. The PIP joint is built with a cable-drive mechanism powered by a
digital servo motor installed in the forearm. The Metacarpal joint (MCP) is driven by a
micro linear actuator in the hand palm. A micro linear actuator was also selected to drive
the wrist of the robot. The hand can perform 10 hand gestures follow common emoji hand
gestures and holding 12 objects in the hand. The design of this bio inspired robot hand can
be downloaded for educational purpose.

1. Introduction joint such as “Michelangelo Hand” [6] in order to reduce the

volume and suitable for users. In many cases, a hand gesture for
This paper has been developed from “Design of an Open- the prosthetic hands can be created with just an open bare hand and
Source Anthropomorphic Robotic Finger for Telepresence Robot” the grip for the fist posture. Some prosthetic hand has 2 joints in
[1] to become a hand and forearm. As a big picture of the project each finger which is Metacarpo Phalangeal Joint (MCP) as a drive
is to develop the telepresence robot that can present the human joint, Proximal Interphalangeal Joint (PIP) as an under actuated
feeling between the operator who controls a robot and participant joint, and Distal Interphalangeal Joint (DIP) Joint as a fixed joint.
who interactives with robot. From the study and research of Each finger can be controlled by 1 or 2 actuators like a “Prosthetic
various types of robotic hands, it can be divided into two major hand from Touch Bionics” [7], and “Bebionic Prosthetic Hand” [8]
developments. The first is a robotic hand that was developed for which has been developed up to present. Researchers intend to
the articulate arms, which focus on the performance to pick up design a prototype of robotic hand that has an appearance like a
objects in different ways. Generally, a number of controllable prosthetic hand to keep the participant feeling like communicating
hands joints is more or equal to the number of human hands. with human while remaining a controllable joint as a robotics hand
However, the appearance is not a focus point for this type, for for the operator to have a controllable joint equally to the human
example, “The DLR hand arm system” [2], “Shadow Dexterous hand joint. As a result, In the constrained appearance, the hand has
Hand E1 Series” [3], and many of the robotics hands in “A Review more natural movement more than normal prosthetic hands with 2
of Anthropomorphic Robotic Hand Technology and Data Glove actuated joint drives and 1 under actuated linkage joint. This hand
Based Control” paper [4]. The second is robotic hands used for can be used to communicate by using a common hand sign to
disabilities people also known as prosthetic hands. Most prosthetic express the meaning of the operator and also has the capacity to
hands have appearances like human beings. However, the number hold daily used objects. The prototype hand as shown in Figure 1.
of controllable joints that is reduced to 5 DOFs for 1 hand such as It is mostly built from a 3D printer. The researcher intends to share
“Dextrus V2.0” [5], “Limbitless” [5], or even reduce the moveable this 3D model with those who are interested in further
development.
*
Corresponding Author: N. Tirasuntarakul, KMUTT, Bangkok, 10140, Thailand,
(+66)961462235 [email protected]
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https://dx.doi.org/10.25046/aj080608
 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
Furthermore, the original 4-bar linkage system in the middle of
the finger was reconfigured to a dual linkage system. In this
design, the center axis of the Proximal Interphalangeal joint (PIP)
is redesigned as a circular channel to support the tendon traction
with a constant radius as shown in Figure 4.

110 mm 22 mm

19.5 mm
Figure 1: Hand and Forearm Compared Between Robot and Dorsal Side (Left)
and Ventral Side (Right). 4 mm

2. Design Methodology Proximal

Interphalangeal joint
Given the significance of appearance, the design prioritized
size considerations. The hand, along with the forearm, was
Distal Interphalangeal
segmented into seven main components, namely the fingers, joint
palm, metacarpal thumb, wrist, forearm, Dynamixel box, and
cover plate, as shown in Figure 2. The dimensions and specifics
of each part are detailed below. Metarcapo Dual 4 bar
Phalangeal joint linkage
Dynamixel
Box (inside)
Wrist

Palm Cover plate

Circular path
Fingers Forearm
Figure 4: 3D Model Finger
CMC Thumb
Figure 2: 3D Model of Robotics Hand and Forearm. Thumb, Index, Middle, Ring, and Little fingers use the same
models for convenience of maintenance and to reduce the time of
2.1. Fingers printing parts. The MCP joints of the Index, Middle, Ring, and
Little fingers are attached with linear actuator PQ12-R 30:1 gear
The initial finger design utilized cables to control joint
ratio with 20 mm stroke. When fully extended, these joints align
movement, with 10 rotary actuators located in the forearm, each with the palm, whereas when the linear actuator is completely
dedicated to a specific joint. To flex or extend the PIP joint, retracted, the MCP joint flexes down to an angle of 77.59 degrees.
tension is applied to the tendons linked to the DIP joint. This This angle arises due to the position of the cylinder upon retraction.
transmits force through the linkage, coordinating the movement The linear actuator is designed to ensure that it fits as closely as
of both joints. The tendon path from the actuator to the DIP joint possible to the palm, thus enabling convenient attachment via
passes through the PIP joint. The upper path extends the PIP joint, screwing. as shown in Figure 5.
while the lower path flexes the PIP joint. However, for the tendon
to pass through the upper part of the PIP joint, the linkage must
have a cavity in its middle, potentially reducing its strength, as 0°
shown in Figure 3.

Linkag DIP Tendons

e
MCP

PIP
Screw Point
DIP MCP Tendons
Linear Actuator
Figure 3: Initial Finger Design. 77.59°
Figure 5: Range of Motion MCP joint.
To improve the appearance of the forearm and create a more
natural arm-like shape, modifications were made to the finger The thrusting position of the linear actuator is perpendicular to
design. Specifically, the MCP joint was modified from a cable the pivot point at a radius of 10.75 mm when the fingers are in the
drive to support a linear actuator hinge drive. This refinement most folded position towards the palm. When the fingers are
allowed for the preservation of five rotary actuators for cable unfolded, the distance between the thrusting position and the pivot
drive, while the remaining five rotary actuators were replaced point is 14.11 mm as shown in Figure 6.
with linear actuators directly connected to their respective joints.
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 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
Table 1: Values of Finger
Finger Parts Variable Value Unit
Middle Phalanx (Middle) l2 28 mm
Distal Phalanx (Distal) l3 26.5 mm
10.75 mm
Proximal interphalangeal
r2 5.5 mm
joint Four-bar radius
Distal interphalangeal
r3 5.5 mm
joint Four-bar radius
Degree between Proximal
Phalanx and Proximal α2 180 Degree
14.11 mm
inter phalangeal Four-bar
Standard degree between
Middle Phalanx and
α3 60 Degree
Distal interphalangeal
Figure 6: Extended MCP Joint (Top) and Flexed MCP Joint (Bottom) joint Four-bar
Moving degree of
The PIP joint is actuated by two of 4 braid PE fiber lines θ2 90 Degree
which have a thickness of 0.26 mm that provide flexibility in Proximal phalangeal joint
Moving degree of Distal
bending and can withstand a maximum tensile force of 13.6 KG. θ3 Result Degree
phalangeal joint
as tendons for flexion and extension, respectively. The metacarpal
bone features two distinct paths for these tendons, namely the
upper and lower paths. The flexion tendon travels through the
lower path before turning up towards the top and securing with a
screw, as illustrated in Figure 6. In contrast, the extension tendon
travels through the upper path before turning down towards the
bottom and fastening with a screw, as shown in Figure 7-8.

Extend Tendon

Flex Tendon

Figure 7: Flex Tendon (Bottom) and Extend Tendon (Top)

90°

Flex Tendon

Extend Tendon 86.5°

Figure 9: Annotations for Finger Dimension, Calculation, and the Relative

Degree Between DIP and PIP.
Figure 8: Flex Tendon Screw on Top of The PIP joint.
2.2. Palm
By focusing on the external appearance, the lengths of each
joint are shown in Table 1. These values are substituted back in The palmar side of the hand is equipped with five linear
the equation to solve for the θ3. The result is the ratio of turning actuators, with the middle finger serving as the reference axis for
the PIP and DIP joints will be 1:0.961. While turning the PIP joint the index and ring fingers. These fingers are separated at an angle
90 degrees, the DIP joint will rotate 86.5 degrees as shown in of 5 degrees from the adjacent finger as shown in Figure 10. The
Figure 9. thumb, however, requires special attention in order to mimic the
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 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
palm line pattern, as shown in Figure 10. To create a rotation axis This is capable of having 12° of pre-abduction and 42° of radial
for the Carpometacarpal joint (CMC), the axis of the Middle movement [9], [10], as shown in Figure 12.
finger crossing over the edge of the wrist and the horizontal axis
of the Little finger crossing the edge of the palm at the pointer
finger side remains the same. A straight line is then drawn 62.59 °
between these two points to create a rotation axis for the
Carpometacarpal joint (CMC), as shown in Figure 11.
5° 5°
5°
Linear Actuator

109 mm

42°

10 mm 12°
55.4 mm
97.86 mm
16 mm CMC Axis
6 mm Figure 12: CMC Joint Extended Position Dorsal View (Top) and Wrist View
(Bottom)
Figure 10: 3D Model of Palm
Since the space in the palm is limited by other MCP
joints, the axis of CMC joints is not parallel to the linear actuator.
To solve this problem, a ball joint is attached to convert the
rotation axis of the CMC joint to the linear actuator axis as shown
in Figure 13. The direction of force exerted by the linear actuator
through the ball joint during both flexion and extension is
indicated in Figure 14, with the arrow indicating the direction of
force.

Figure 11: Reference for Palm Line Pattern.

The dorsal side of the hand is designed to accommodate the

tendons and electric cables. The back of the palm is covered with
a shell that has magnets, enabling quick removal for repair and
maintenance, as shown in Figure 11.

Magnets

Tendon

Electric
Cable

Figure 11: Dorsal Side of Palm

Ball joint
2.3. Carpometacarpal Joint
Figure 13: CMC Joint Normal Position
The Carpometacarpal (CMC) joint is the first joint of the
thumb. It is driven by a single linear actuator for abduction. The
extension is fixed at a 62.59° angle to improve grasping ability.

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within the proximal forearm. Finally, the bottom row contains a
hinge for the linear actuator to actuate the wrist's flexion and
extension. The design of the wrist is shown in Figure 18..

Hand Wrist Distal Forearm

Tendons Upper Path

Wrist Rotation Axis

Tendons Lower Path

Figure 16: Tendons Path Side View

Figure 14: Extended CMC joint (Top) and Flexed CMC joint (Bottom)

The Carpometacarpal (CMC) joint, which cooperates with the

ball joint, is responsible for the rotation angle of the non-parallel
joint of the thumb. The rotation angle ranges from maximum
extension to maximum flexion is 72 degrees, as shown in Figure
1 2 3 4 5 6 7 8 9 10
15.
(1) Thumb Flex (3) Pointer Extend(7) Ring Extend
0° (2) Thumb Extend (4) Pointer Flex (8) Ring Flex
(5) Middle Flex (9) Little Flex
(6) Middle Extend (10) Little
Extend
Figure 17: Tendons Path from Wrist to Forearm

Front View Right Side View

72° Electric Cable
Top
Middle Tendons Wrist Joint 40 mm
Bottom Hands Socket

Figure 15: Range of Motion CMC joint 62.63 mm 30 mm 10 mm

2.4. Wrist Electric Cable

The human wrist is not always in a straight position and
requires mimicry to replicate natural postures. Additionally, the
wrist is responsible for organizing tendons around the rotational
axis to prevent any unnecessary stretch when it is flexed. The
wrist itself has two distinct sides. The front side contains two
sockets for attaching the hand to the bottom row, while the middle Tendon Joint
row has ten holes for tendon routing. The top row contains a single
hole for the electric cable from the linear actuator. On the other Figure 18: Wrist
side, the back side of the wrist has a rotation joint at the middle
The linear actuator is installed and aligned with the underarm
row, positioned at the same level as the tendons row, to prevent
area. The arm and wrist are designed to lie in parallel when it is
any tendon extension from the wrist's flexion and ensure smooth fully extended. Conversely, when the linear actuator is fully
tendon movement as shown in Figure 16. A separate frictionless retracted, the wrist is angled downwards by 50 degrees as shown
tube is used for each of the ten tendons as shown in Figure 17. in Figure 19-20. The technical specifications for linear actuators
The extension from the proximal finger to the tendon holder is for all joints are shown in Table 2.
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 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
forearm is the location where the linear actuator for the wrist is
attached, and it also provides a passage for wires from the internal
to the external of the forearm. In addition, the distal forearm
serves as the pathway for tendons to the proximal forearm, which
contains the Dynamixel box as shown in Figure 23.
17 mm
27 mm

Wire Passage

Tendon
Figure 19: Wrist length parameter
Lower Path
Linear Actuator

Maximum Flexed
Figure 22: Distal Forearm

The Dynamixel box integrates all five Dynamixel XL430-

W250-T with their tendon holders. The Dynamixel components
are arranged in three rows, consisting of one unit, two units, and
Maximum Extended two units respectively. Rows 1 and 3 are oriented with heads up,
while Row 2 is inverted to prevent tendons from overlapping with
Row 3 as shown in Figure 24. At the end of the box, a base with
a socket is installed for connection to the cover plate. The
technical specifications for Dynamixel actuators for all joints are
Figure 20: Robot Hand side view when flex and extend wrist. shown in Table 3.

Table 2: Specifications of Linear Actuator.

Actuator Actuonix PQ12-R 30:1 Actuonix PQ12-R 63:1 Proximal Forearm

Joint MCP/CMC Wrist

Torque / Forces 18 N 45 N
Voltage 6V 6V
Stall Current 550 mA 550 mA
Dimensions (mm)
21.5 × 15 × 48(+20)
(W × H × L)
Dynamixel Box
2.5. Forearm
The forearm is designed to resemble the anatomical structure
of the human arm, with emphasis on its external appearance, as Figure 23: Proximal Forearm
shown in Figure 21. The dimensions of the forearm are averaged
values for an adult male forearm, measuring 263 mm in length, 97 Row 3
mm in width at the elbow side, 64.75 mm in width at the wrist
side, 75 mm in height at the elbow side, 40 mm in height at the Row 2

wrist side [11].

Distal Forearm Proximal Forearm

75 mm
40 mm

Row 1 Tendon Holder

64.75 mm
263 mm Figure 24: Dynamixel Box Upside (Left) and Downside (Right)
97 mm
Figure 21: Forearm

The forearm is separated into two sections, namely the

proximal and distal forearms as shown in Figure 22. The distal
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Table 3: Specifications of Linear Actuator.
Little Finger Tendon
Actuator Dynamixel XL-430-W250-T
Ring Finger Tendon
Joint PIP
Torque / Forces 1.4 N⋅m
Voltage 11.1 V
Stall Current 1.3 A Index Finger Tendon

Dimensions (mm)
28.5 × 46.5 × 34 Thumb Tendon
(W × H × L)
Middle Finger Tendon

The tendon holder is composed of three parts, namely the top Figure 26: Overview of Tendons Routing.
part, middle part, and bottom part. These parts are stacked into
Last, the cover plate encloses the proximal forearm and
three layers to prevent binding between tendons. The bottom part
maintains tension in all ten tendons by securing it to the
is screwed to the Dynamixel flange, and the flex tendon is tied
Dynamixel box. It is screwed in place to pull the Dynamixel box
around it for 1 + 1/4 rounds counterclockwise. The middle part is
outward and straighten the tendons as shown in Figure 27.
used to extend the tendon and is tied clockwise around the part for
1 + 1/4 rounds. The top part is designed to prevent the extend
tendon from coming off the circular and merging of the three parts
together by using four screws as shown in Figure 25. When flex Cover Plate
and extend tendons are tied around the tendon holder, they share
the same binding point. As the Dynamixel rotates either clockwise
or counterclockwise, one of the tendons will be released from the Attached
holder, while the other is wound around it at an equal distance. Point
The radius of the tendon holder is designed to match that of the Tension Screw
tendon binding around the proximal interphalangeal (PIP) joint.
Figure 27: Cover plate.
This design ensures that the rotation of the Dynamixel and the
rotation of the PIP joint are synchronized and occur at the same To increase the degrees of freedom (DOFs) while maintaining
rate. Ten tendons that have been threaded through the frictionless the appearance of the hand and arm, multiple types of actuators
tube are responsible for pulling the Dynamixel box inward, were utilized within space constraints. Specifically, five linear
ensuring that it remains securely in place within the arm as shown actuators were implemented in the palm to control the MCP joints
in Figure 26. of the Index, Middle, Ring, and Little fingers, as well as the CMC
joint of the thumb. The PIP joints of the Index, Middle, Ring, and
Little fingers were controlled by Dynamixel digital servo motors
through tendons, similar to the MCP joint of the thumb, which was
also controlled by a servo motor connected through a tendon from
Extend Tendon Tendon Holder the back of the forearm as illustrated in Figure 28. As a result of
Top part this design, the fingers can flex and extend the PIP, MCP, and
CMC joints separately as shown in Figure 29.

Linear Actuator Tendon Right Path Dynamixel Box

Tendon Holder
Middle Part

Flex Tendon

Tendon Holder Tendon Left Path

Bottom Part
Tendon Upper Path
Electrical Cable Path

Figure 25: The layer of Tendon holder with flex tendon and extend tendon. Tendon Lower Path

Figure 28: Inside the hand and arm.

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meanings, but in common, it is known as "The symbol of rock
music, and "joy"
4) "Raised Fist" is depicted by flexing of all fingers into the palm
while leaving a flexed Thumb outside the Index finger.
Performing the "Raised fist" with the back to the performer can
mean "Unity" or "resistance". Front view of the fist emoji is called
the "Fisted Hand Sign", which means punching somebody. While
"Left-Facing Fist" and "Right-Facing Fist" are used together to
Figure 29: Robot Hand flexing a MCP (Left) and PIP (Right) joint.
depict a friendly greeting, like giving a High-Five.
5) "OK Sign" is the sign with a flexed thumb tip and index
3. Evaluation fingertip to touch each other and leave the Middle finger, Ring
finger, and Little finger straight or in a neutral finger position. The
Generating Gestures meaning of "OK" is simply well-known as "It is fine." to the
situation.
Basic perform of the hand is hand signs that are formed in
6) "Call Me" is the sign with an extended Thumb and Little finger
many postures with different meanings. However, some hand
straight and flexed Index finger, Middle finger, and Little finger
signs are widely used, such as the emoji hand sign. The emoji
into the palm. It is used to express the meaning of "Call me".
hand sign is widely used in various social media. The meaning
7) "Thumbs Up Sign" as the flex Index finger, Middle finger, Ring
may deviate, depending on the context of communication between
finger, and Little finger into the palm and extend the Thumb
the speakers, but the hand sign has a stable shape. Having an
straight. The "Thumbs Up" gesture is popular on social media for
independent DIP and PIP joint from the MCP and CMC joint.
a meaning of positive expression, such as "Like" when the person
Hence, the posture that performs a straight finger can be more
approves of the content in the post, meaning "Yes" when the
realistic than the fixed DIP finger. Ten emoji hands, as shown in
person replies to a question about a situation of something which
Table 4 and Figure 30, are an emoji that uses one hand to perform.
result is come out positive way, "Agree" when the person
Table 4: Hand Sign and Meaning acknowledge on the mention, and “Understand” when the person
realizes clearly. On the other hand, the "Thumbs Down sign"
No. Name Meaning which have the same finger posture but rotates the arm to put the
1 Raised Hand Stop, Thumb downward to the ground, which means "Dislike".
Hello (greeting), 8) " Backhand Index Pointing Right" is the posture that flexes the
Hi-Five (greeting) Little finger, Ring finger, and Middle finger into the palm, leaving
2 I Love You Love or Affection the Index finger extended straight. The Thumb is extended
3 Sign of Horns Rock Music straight or flexed to the palm.
Joy 9) "Left Pointing.", "Down Pointing" and "Up Pointing" mean
4 Raised Fist Unity paying attention to something. Special for "Up Pointing" can be
Resistance for "Think' and "Be careful".
5 OK It is fine. 10) "Victory Hand" is the sign with the Index finger and Middle
6 Call Me Call me via phone. finger extended straight and flexed the Little finger, Ring finger,
Call me later. and Thumb to the palm. and it can represent the Latin letter V
Take it easy which means "Victory".
7 Thumbs Up Like
Yes 3.1. Generation of grips for holding objects
Agree
Understand In addition to expressing the meaning through the hand sign,
8 Backhand Index Refer attention to the things that holding objects is another way to tell the listener what the
Pointing Right fingertip pointed. operator's intention is.
The objects that were selected to test are the daily use object,
9 Index Pointing Up Contemplation
Be careful which comes in different shape, size, and weight [12] as shown in
Table 5 and Figure 29. The object is put in the hand and the hand
10 Victory Victory
starts to grasp and hold still, before recording the picture. Various
Peace
holding techniques are employed for different objects during
More explanations for emoji and hand signs are discussed in the
grasping tasks. For instance, the Lateral Pinch grip, as
following section.
demonstrated in Figure 31(1), is used for holding small flat
1) "Raised Hand" signifies that all fingers are maximum extended
objects like coins, card keys, and banknotes. The Tripod Pinch,
into a straight finger. It means "Stop", "Hello", or "Hi-five”.
depicted in Figure 31(2), is utilized for holding stick-type objects
2) "I Love You Hand Sign" is a sign with the Little finger, Index
like pens and soldering irons, where three fingers are used to pin
finger, and Thumb extended straight and flexed Middle finger and
the object in position. The Cylindrical Grip, shown in Figure 31(3-
Ring finger into the palm. It is used to express love to the
6), is used to entwine cylindrical objects like soda cans, water
interlocutor.
bottles, hand drills, cleaning sprays, and sanitizer sprays. The
3) "Sign of the Horns" looks like the "I love you hand sign" but
Sticky Tape grip, illustrated in Figure 31(7), is used for holding
have a flexion of the Thumb in the palm. This sign has many
flat cylindrical and spherical objects. The Storage Box grip, as
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depicted in Figure 31(8), is achieved by using only the Proximal 6 Water 177.5(h) × 193 Cylindrical
Interphalangeal (PIP) and Distal Interphalangeal (DIP) joints to bottle 57.4 (Ø) Grip
grasp and hold objects such as document files and books. In 7 Sticky 16(h) × 24 Spherical
contrast, the Claw grip, illustrated in Figure 31(12), is used for tape 55.5(Ø) Grip
holding tote bags and is performed by pointing the hand toward 8 Storage 162.5(l) × 48 Claw Grip
the ground. The Platform Posture grip, as shown in Figure 31(9), box 52(w) ×15.3(h)
involves extending the hand with the palm side up and placing the 9 Plate 120 - 230(Ø) × 176 Platform
object on top, then flexing the fingers to support the object. Lastly, 34(h)
the Mouse grip, depicted in Figure 31(10), is a special grip for 10 Mouse 127(l) × 67(w) 73 Fingertip
holding a computer mouse, where the thumb, ring finger, and × 37(h) Grip
palm are used to set the position, and the index and middle fingers 11 Hand - - Handshake
are used for left and right-clicking, respectively. 12 Canvas 28(w) × 3(h) 129 Hook
Tote Bag (handle)

Horizontal

Horizontal

Horizontal

Figure 31: Robot Hand when grasped and hold the objects.

Table 6: Equation of Linear actuator.

Figure 30: Robot Hand compared to the Facebook Emoji Hand.

Fingers Joint Equation

Table 5: Object details for Figure 31. Thumb CMC y = 0.07223 x – 72.23
Index
No. Object Dimension Weight Holding
(mm) (g) Type Middle MCP
y = 0.07759 x – 77.59
1 Coin 1.8(h) × 24(Ø) 6 Lateral Pinch Ring
2 Pen 124(h) × 12(Ø) 7 Tripod Pinch Little
3 Cleaning 39(l) × 34(w) 60 Cylindrical
For measuring the angle of a joint using a linear actuator, the
spray 57(l) × 34(w) Grip
actuator is driven by Pulse Width Modulation (PWM). A pulse
bottle (trigger) with Trigger
width of 1000 µs results in the maximum retract stroke, while a
4 Sanitizer 119(h) × 31(Ø) 23 Cylindrical
with Extend
pulse width of 1500 µs results in a 10 mm stroke, and a pulse
spray width of 2000 µs results in a maximum extended 20 mm stroke.
bottle Index Finger
A linear relationship between pulse width and stroke length can
5 Soda can 150(h) × 57(Ø) 13 Cylindrical be observed. By mounting the linear actuator directly on the
Grip proximal part of the finger, the measurement of the joint angle can
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be obtained from the pulse width of the input, which is then Middle 30 360 640
compared to the angle of joint rotation. An equation for Ring 36 340 580
determining the angle of joint flexion is provided in Table 6.
Little 43 560 970
For the Dynamixel joints, values of joints can be obtained Table 8: Equation of Dynamixel.
from the sensors for each joint. Due to the transmission of power
through tendons that may stretch or slack over time, the flex Fingers Equation R-Square Residual SD
sensor 2.2-inch is used to measure the amount of voltage in digital Thumb y = 0.0165x2 – 3.4230x + 599.7518 0.9900 5.6890
to compare with the actual motion (Figure 32). The measurements
were subdivided into 5-degree angles and the total value was Index y = 0.0166x – 3.1108x + 417.6042
2
0.9912 4.5224
recorded 20 times per angle by fixing the joints of the fingers with
Middle y = 0.0165x2 – 4.9180x + 502.2505 0.9970 5.3356
the angle measuring tools. and measure the resistance at the angle,
as shown in Figure 33. Measurement begins by stabilizing the PIP Ring y = 0.0196x – 4.5638x + 505.1175
2
0.9993 2.1901
joint and fixing the DIP joint at 0 degrees. Record the Sensor
Little y = 0.0047x2 – 3.4375x + 629.5187 0.9977 4.0386
value, then increment the DIP lock point to 5 degrees. Continue
this process until reaching 85 degrees, then return to the starting
position at 0 degrees. Repeat this cycle 20 times for all five fingers.
After obtaining the recording table, calculate the average value for Flex Sensor Thumb : Polynomial
each degree before creating a graph. The goal is to derive an 660

607.85
equation suitable for the graph, as illustrated in Figure 34-38 and 640 y = 0.0165x2 - 3.4230x + 599.7518

Average Flex Sensor Value

620 R² = 0.9900
Table 9. Utilizing the Flex Sensor for feedback, the calculated

581.7
568.25
reading value is employed in an equation to determine the degree 600

551.4
of joint rotation. The accuracy of angle deviation is consistently 580

537.5
maintained within an acceptable range of plus or minus 4 degrees, 560

518.4
502.75
ensuring minimal deviation from normal postures. Flexible 540

496.6
sensors exhibit various resistance ranges along different sensors. 520

483.5
479.4
473.9
When used in a 5V pull-up circuit with 220k Ω resistor, the

466.4
500

462.5
453.6
443.45
resistance readings decrease when the sensors are bent further

439.05
480

427.45
specification of flex sensor are shown in Table 7. Dynamixel joint 460

418.65
has an actual maximum movement only 85 degrees, because of 440
the guide tube in this design interrupts the movement. The details 420
of the equation are shown in Table 8. 400
0 20 40 60 80
Angel Degrees (°)

Figure 34: Flex Sensor on Thumb Finger.

Flex Sensor Index : Polynomial

Flex Sensor 470
y = 0.0166x2 - 3.1108x + 417.6042
426.3

Figure 32: Flex Sensor on Fingers. 450 R² = 0.9912

Average Flex Sensor Value

402.6

430
388.6

410
371.9

390
352.8
347.4

370
332.7
327.10
321.7

350
314.25
307.1
301.1
295.25

330
288.8
281.95
277.75

310
272.25
268.6

Figure 33: Measuring Tools When Not Applied Screw to Fix Angle. 290
Table 7: Flex Sensor Resistance Value. 270
250
Minimum Resistance Flat Resistance Maximum Resistance
Fingers
(kΩ) (kΩ) (kΩ)
0 20 40 60 80
Angel Degrees (°)
Thumb 40 440 720

Index 31 260 470

Figure 35: Flex Sensor on Index Finger.

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 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
Because of feedback from the sensor, gestures and object-
holding positions can be recorded and utilized for subsequent Flex Sensor Little : Polynomial
replays without the need for the actual object to be present. This
allows for the replication of movements, such as drinking water 690 y = 0.0047x2 - 3.4375x + 629.5187

633.65
from a water can, in a simulated situation. 670 R² = 0.9977
650

614.7
630

592.6
Flex Sensor Middle : Polynomial

Average Flex Sensor Value

577.4
610

561.1
590

546.95
540
491.3

570
475.15

520

528.3
y = 0.0165x2 - 4.9180x + 502.2505

513.79
550
459.9

500 R² = 0.9970
443.35

493.85
480 530
417.75

510

486
Average Flex Sensor Value

460

468.7
490
393.85

452.3
440

443.25
470

432.4
420
366.1

418.1
400 450
346.26

401.9
380 430

380.95
330.8
315.55

360 410

363.55
340 390
291.8

320 370
279.1
267.4

300 350
251.5
235.55

280 0 20 40 60 80
226.45
218.15

260
206.15

Angel Degrees (°)

240
220 Figure 38: Flex Sensor on Little Finger.
200
0 20 40 60 80 Table 9: Flex Sensor Resistance Value.
Angel Degrees (°)
Average Resistance Value

Fingers
Figure 36: Flex Sensor on Middle Finger. Thumb SD Pointer SD Middle SD Ring SD Little SD
/Deg

0 599.8 3.3 417.6 3.5 502.3 3.7 505.1 2.7 629.5 2.6
Flex Sensor Ring : Polynomial
5 583.0 3.0 402.5 5.0 478.1 4.7 482.8 3.0 612.4 2.4
550
507.75

10 567.2 3.7 388.2 5.2 454.7 3.9 461.4 3.8 595.6 2.5
530 y = 0.0196x2 - 4.5638x + 505.1175
481.25

R² = 0.9993 15 552.1 3.5 374.7 5.1 432.2 4.9 441.1 4.8 579.0 3.4
510
20 537.9 3.4 362.0 4.9 410.5 2.9 421.7 3.8 562.6 3.4
461.4

490
Average Flex Sensor Value

442.15

470 25 524.5 5.4 350.2 4.0 389.6 5.1 403.3 4.2 546.5 3.8
421.7

450 30 511.9 4.2 339.2 2.9 369.6 3.4 385.8 3.5 530.6 3.0
401.25

430 35 500.2 3.6 329.1 2.1 350.3 3.6 369.4 2.9 515.0 3.2
383.4

410
365.37

40 489.2 4.3 319.7 3.0 331.9 3.9 353.9 4.2 499.5 3.3
390
353.8
344.05

45 479.1 2.5 311.2 3.9 314.4 3.3 339.4 4.2 484.3 4.7
370
328.45

50 469.9 3.7 303.6 4.1 297.6 3.5 325.9 3.7 469.4 4.0
350
312.05

330 55 461.4 5.0 296.7 4.1 281.7 4.5 313.4 3.8 454.7 3.0
304
293.1
281.35

310 60 453.8 2.3 290.7 3.8 266.6 4.2 301.8 4.1 440.2 4.1
271.6
265.1
258.35

290 65 447.0 3.4 285.5 4.7 252.3 4.5 291.3 4.2 425.9 4.0
270
70 441.0 3.4 281.2 2.8 238.8 3.9 281.7 3.1 411.9 3.8
250
75 435.8 3.0 277.7 2.7 226.2 3.3 273.1 4.5 398.1 4.1
0 20 40 60 80
Angel Degrees (°) 80 431.5 3.6 275.0 2.3 214.4 3.9 265.5 3.1 384.6 3.8

85 428.0 3.2 273.1 2.5 203.4 3.0 258.8 3.5 371.3 2.3
Figure 37: Flex Sensor on Ring Finger.
Std.
5.7 4.5 5.3 2.2 4.0
Res.

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 T. Wimonrut et al. / Advances in Science, Technology and Engineering Systems Journal Vol. 8, No. 6, 65-77 (2023)
Force was quantified by assessing the pressure applied at the calibration results. Recording the degree of rotation for each joint
distal interphalangeal (DIP) fingertip, with the palm fixed in enables the hand to replicate hand gestures without needing
position and the finger held straight. Subsequently, the fingertips physical objects. Furthermore, the hand has the capacity to hold
were placed on a weighing scale beneath the distal phalanx, as objects and engage in communication through hand gestures. In
depicted in Figure 39. Each finger was then instructed to flex gestures performed, 10 main hand signs can be performed.
maximally, with measurements recorded in each cycle. The Designed within the given constraints to prioritize appearance,
average force is illustrated in Figure 40. The tension in the tendon robotic hands can convey a wide range of gestures and symbols,
significantly influences the strength of finger flexion. Excessive including greetings, cessation signals, affection, joy, unity,
tightness in the tendons can result in diminished flexion of the resistance, agreement, distraction, contemplation, victory, and the
linear actuator. Additionally, the force produced by wrist flexion OK hand sign. Moreover, these robotic hands can hold various
is measured using the middle finger. daily objects, such as flat coins, stick objects like pens, cylindrical
cans, or water bottles, trigger-operated spray bottles or hand
sanitizers, and circular or flat cylindrical objects like sticky tape.
They are even capable of engaging in handshakes for greetings,
utilizing a fingertip grip for operating the computer mouse, and
adopting a claw-like configuration to hold a box or document
Weighing Scale folder horizontally or to carry bag straps vertically. This hand is
meticulously designed by eliminating the movement of abduction
and adduction joints while maintaining a fixed angle for optimal
Figure 39: Setup of Force Measurement by Fixing the Palm in place.
expression of hand gestures with a suitable number of actuators in
the design. Furthermore, the 3D model is accessible to any reader
Average Force at Fingertips interested in further development at the link below.
339.5 "https://github.com/Traithep-w/Robotic-Hand"
350
300
257.2
239.7 237.8
Conflict of Interest
250
Force (g)

206.5
200 176.5 166.4
The authors declare no conflict of interest.
154.8 162.9
146.2
150 Acknowledgment
99.7
100
50
The authors would like to thank the AI for All project and the
Fundamental Fund for supporting tuition fees and research
0
equipment. Also, the authors would like to thank the Institute of
Field Robotics and the King Mongkut's University of Technology
Thonburi, which is a source of knowledge and a place to develop
Actuator of Fingers
this research.
1 2 3 4 5 6 7 8 9 10
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