 Comparison of The Shadow Dexterous Hand with the human hand. Image File history File links No higher resolution available. ...
Form factor The Shadow Dexterous Hand has been designed to be as similar as possible to the average hand of the human male. The forearm structure is comparable in length to the human forearm, although at the base it widens to 146mm.
Degrees of freedom The Shadow Dexterous Hand has been designed to have a range of movement equivalent to that of a typical human hand. The hands (med. ...
The four fingers of the hand contain two one-axis joints connecting the distal phalanx, middle phalanx and proximal phalanx and one universal joint connecting the finger to the metacarpal. The phalanges in a human hand Illustration of the phalalnges The name Phalanges is commonly given to the bones that form fingers and toes. ...
A universal joint A universal joint, U joint, Cardan joint or Hardy-Spicer joint is a joint in a rigid rod that allows the rod to bend in any direction. ...
The metacarpus is the intermediate part of the hand skeleton that is located between the fingers distally and the carpus which forms the connection to the forearm. ...
The little finger has an extra one axis joint on the metacarpal to provide the Hand with a palm curl movement.
The thumb contains one one-axis joint connecting the distal phalanx to the proximal phalanx, one universal joint connecting the thumb to the metacarpal and one one-axis joint on the bottom of the metacarpal to provide a palm curl movement.
The wrist contains two joints, providing flex/extend and adduct/abduct.
This means that that the Shadow Dexterous hand has 24 joints all together, with 20 degrees of freedom.
Actuation The movements of the hand are powered by a set of 40 Air Muscles in the forearm. The flow of air into and out of each muscle is controlled by eighty valves, also in the forearm. This is done based on the information gathered from the joint sensors. Pneumatic Artificial Muscles, in an antagonist/agonist setup to actuate a rotational joint. ...
These water valves are regulated by handles. ...
History The Shadow Dexterous Robot Hand is the first commercially available robot hand from the company, and follows a series of prototype humanoid hand and arm systems. It has been suggested that this article or section be merged with prototyping. ...
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