抄録
Addressing the challenge of balancing dexterity, cost, and reliable perception in robotic hands, this paper develops an underactuated five-fingered anthropomorphic hand. Mechanically, an innovative cross-four-bar linkage is applied to the phalanx design, creating a 1-DOF enveloping chain with passive adaptability, while the thumb features two independent DOFs to reduce control dimensionality. To overcome the force measurement limitations of rigid PLA phalanges, the system integrates conformal Bio-Skin flexible tactile sensors for high-sensitivity spatial-temporal perception. A hardware system based on an ESP32 microcontroller was constructed for experimental validation. Results from cylindrical grasping experiments demonstrate that the hand achieves precise self-adaptive enveloping and a closed-loop contact force threshold (6.0 N) with minimal latency. The design successfully balances mechanical compactness, low-cost manufacturing, and high-fidelity force interaction.
