SkB-Hand: A Skeleton Bionic Hand with Dual-Tendon for General Purpose Robotic Grasping Tasks
Part Of
IEEE International Conference on Intelligent Robots and Systems
Start Page
15753
End Page
15758
ISSN
21530858
ISBN (of the container)
9798331543938
ISBN
9798331543938
Date Issued
2025
Author(s)
Abstract
The development of bionic hands is a crucial area robotics research, aiming to achieve human-like dexterity, adaptability, and efficiency in manipulation tasks. This study presents the Skeleton Bionic Hand (SkB-Hand), which features a dual elastic-tendon mechanism for extensor and volar plate in a single finger. The skeleton structure ensures the SkB-Hand is lightweight (< 600g) and low-cost (< 150USD) while maintaining performance in various grasping tasks. We evaluated the SkB-Hand through experiments such as the Kapandji test, GRASP Taxonomy, and dynamic scenarios. Results showed the SkB-Hand scored 7/10 in the Kapandji test and 33/33 in the GRASP Taxonomy test. The hand demonstrated resistance to deformation under external forces while ensuring flexibility. Integrated into the Techman Robot (TM-Robot), the SkB-Hand provide its potential for general robotic grasping tasks in daily life.
Event(s)
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, 19 October 2025 - 25 October 2025
Subjects
brain-computer interface
brain-controlled wheelchair
P300
translucent visual stimuli
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
conference paper