Design of the Anatomically Correct, Biomechatronic Hand (1909.07966v1)

Abstract: Following the recent advances in the field of robotic hand development, it can be inferred that the greatest challenge lies in restoring not just general functionality, but the delicate dexterity of the human hand. Results from studying its movement kinematics and dynamics indicate that the intricate anatomical features and structural details are essential for producing such versatility. To address this, we present the Anatomically Correct, Biomechatronic (ACB) Hand, by explaining the purpose and implementation of every functionally significant bone, ligament, finger-actuating intrinsic and extrinsic muscle, tendinous network and pulley system. We biomechanically validate our results using Landsmeers models, and demonstrate the hands performance by examining the execution of certain synergistic movements, analyzing fingertip trajectories, performing the Kapandji test, and realizing the GRASP taxonomy. This study aims to promote how anatomically accurate design considerations can assist in consequentially attaining more human-like functionality, while still allowing for robust structural elements towards advancing research in hand biomechanics, prosthetics and teleoperation.