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OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Sonja GroÃ, Michael Ratzel, Edgar Welte, Diego Xavier Hidalgo Carvajal, Lingyun Chen, Edmundo Pozo Fortunić, Amartya Ganguly, Abdalla Swikir, Sami Haddadin
Abstract
Recent advancements in artificial hand devel- opment have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive grasping in a human-sized prototype. We propose, an open- source, highly integrated artificial hand. It leverages a com- pliant linkage mechanism for versatile grasping capabilities, featuring six degrees of actuation and MEMS-based tactile sensors on every fingertip.