2010 Electronics, Robotics and Automotive Mechanics Conference

Mechanic Design of Anthropomorphic Hand for Shapeless Objects Subjection

Dr. Vctor Javier Gonzlez Villela

Member of IEEE
vjgv@unam.mx

Ing. Vctor Gustavo Arnez Paniagua

arnezvictor@comunidad.unam.mx

Ing. Ernesto Hernndez Avils

ernie_bar12@hotmail.com

Departamento de Mecatrnica, Facultad de Ingeniera, Universidad Nacional Autnoma de Mxico

For this design, the idea of independent structures
was used for each finger. With articulations that go
from the carpometacarpal articulation (wrist with
metacarpal) up to the last phalange. With an inspiration
on the human hand, the structure with tubal sections
like bones was design, making emphasis in the
conservation of the degrees of freedom by articulation
and that the instant central rotations points, when more
than one movement are present, concur in the same
point.

Abstract
In this paper it is presented the design of a
mechanic hand, for a future use in a tele-operated
project, which counts with movements closed to those
made by a human hand, due to the number of joints (22
DOF) and to its structure built from the wrist; giving
relative movement between knuckles, keeping a
relationship of three mean flexible arcs that give
bigger work space and better behavior to grasp
voluminous and shapeless bodies, making difference of
anthropomorphic hands presented in other mechanics
designs based on the rigid palm.

2. Project description.
The future project has the main objective of
developing a work tool, without a specific use,
obtaining a general and versatile solution to different
work fields.
There exists situations where the human dexterity is
required to manipulate objects, but the environment in
which it unrolls might be dangerous for human
presence, besides, it is possible that somebody not in
the place is required. That is why is necessary to bring
the its abilities to a specific place, and that his abilities
might be repeated with human dexterity.
The description of the project is presented in the
following diagram:

1. Introduction.
In recent years, solutions for anthropomorphic
hands have been presented[1-3], each one of these
achieving to complete posture and trajectory more
proximate to those found in the human hand,
nevertheless, completed results have never been
presented, being that there is still work spaces that a
human hand can reach, and these solutions cant, for
example, the solutions developed use a palm with a
plane and rigid shape, use very simplified mechanisms
for the little finger and the ring finger; in other words,
they have a kinematic model simplified[4].
The main topic for this research is the development
of an anthropomorphic hand, basing his structure in
three main arcs of the human hand[5], to obtain a palm
with flexible curves.
The importance of studying this design, based in
flexible arcs, is due to the human hand and its ability to
have a mayor surface contact with big volumes,
offering a mayor subjection and manipulation of these.
Solutions previously proposed without these arcs, have
failed to truly recreate the grasping of spherical and
voluminous objects[4].
The principal objective is to create a mechanic
hand, with the capacity to partially recreate the kinetic
of the human hand.

978-0-7695-4204-1/10 $26.00 2010 IEEE

DOI 10.1109/CERMA.2010.55

Figure 1. Schematic of the full process.

In a first step, the positions are acquired through an
instrumented glove, which transmits the data to a
computer, for a next step of telecommunication. Here,
the information collected and filtered is sent to a
computer that will assign the desired positions to the
mechanic hand. At last, this hand will have sensors

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equivalent to those in the glove so it can be controlled

by the second computer, and at the same time, a
feedback to the operator can be counted; using the
same glove with actuators that give a tactile perception
and also using a video-graphic interface, for spatial
location.
All this with the end of give the operator a better
perception in a workplace different of the one that he
is, without the need of being actually there. And so like
this, the situations of risks can be avoided.

hand manipulates, besides of being able to grasp

objects of irregular shapes and considerable volumes.

Figure 3. Human hand arcs.

3. Design based in flexible arcs.

To design the kinematic of the mechanic hand is

necessary to be aware of the movements and
trajectories that the average human hand is capable to
do.
The angles by which the articulations from the
second to fifth finger moves are from 10 to 15 degrees
in the carpometacarpal (CMC) for the fourth finger,
and from 20 to 30 degrees for the fifth. For the
metacarpophalangeal (MCP) goes from 0 to 90
degrees, for the proximal interphalangeal (PIP) is from
0 to 100 degrees, and the distal one (DIP) is to 90
degrees[5].

To solve the lack of natural movement is necessary

to simplify the mechanics of the human hand, to
adapted to a design integrated with bolts, bar and
universal joints. Thats why it all started with the
investigation of the human anatomy.

Figure 2. Name and location of the joints, such as the

numbers assigned for each finger.
The structure and shape of the hand was defined by
the osseous system, from where the dimensions of the
fingers, palm and angles can be obtain. The bones are
arranged in three arcs, two of them transversals and
one longitudinal.
The proximal transversal arch, with the capitates as
pivot, is relatively fixed and concave to the palm; it is
called carpal arch. The distal transversal arch, with the
head of the third metacarpal is mobile, and also
concave to the palm; it is called metacarpal arch. These
arcs are formed by the normal tension of the ligaments
that hold them up, and for the action of the
corresponding muscle shorten. Both transversal arcs
are connected by a longitudinal one. Any failure in the
system of arcs in the hand may contribute to an
inability of it, that is why the importance.
The capacity of the human hand comes from the
ability of these arcs, to adjust to different postures,
accomplishing a better control over the objects that the

Figure 4. Movement in degrees that the fingers can have.

For the thumb it can be observed that more than
defined angles, it is needed to search for the main
trajectories in our hand, which are abduction, rotation
and flexion.

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Figure 6. Longitudinal outlines of a finger with its four

bars mechanism.
It is possible to simulate the movements of the
thumb using three rotational axles, two of them in the
carpometacarpal joint of the thumb, and the third is the
wrist (joint between the trapezium and trapezoid)[7] to
move the first two ones, and making possible to close
completely the hand. This is appreciated in figure 6.

Figure 5. Indispensable movements of the thumb.

There is a controversy about the use of the little
finger, nonetheless, the implementation of it was
decided due to the advantage that it represents at the
time of manipulate voluminous and heavy objects,
offering a wider work space up to 20% bigger.

4. Mechanics simplifications.
To obtain the longitudinal outlines of the fingers, a
design of variable outlines was required, which is
expensive in its manufacture. A proposal to simplify is
the use of an aluminum tube and work after it to obtain
the longitudinal outlines of each phalange. As it is
showed is figure 5, the pieces of red tone constitute the
structure and works as the phalanges of the fingers.
A mechanic simplification exists when the fingers
are flexed, and it can be applied without compromising
the objective of the project, due to a relation in the
relative angle between the distal and medial phalange,
with the relative angle between medial and proximal
phalange of the index, middle, ring and little fingers[6].
Improvements are presented over the referenced thesis
to achieve more closed trajectories in the last phalange
of the fingers from II to V.

Figure 7. Mechanism for the thumb.

Another of the main simplifications is the effect of
rotation-translation presented in the joints of the human
hand; nevertheless, the existing translation can be
negligible, compared to the rotation achieved. That is
why the prototype counts with articulation of rotational
movements.
To obtain the configuration of the two transversal
arcs wanted in the mechanic hand, it starts with a fixed
base compound of the metacarpals of the index and
middle fingers, and the wrist with the shape of the first
transversal arch at the carpal level. From the heads of
the metacarpals mentioned, it is formed a second
transversal mobile arch at this level. The mobile
property of this arch is achieved with a mechanism of
universal joint in the union of the ring and little fingers
with the wrist (CMC). For the third arch, the
longitudinal one, the configuration is proper of the
natural movements of the hand, due that it is formed by
the position of the fingers in a lateral view.

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metacarpal arch. Both are responsible to do the needed

curvature for subjection of spheres of different
volumes.
To observe the versatility of the thumb, the next
figures are presented, in which, based in the review,
the main positions that must be obtain with this finger
are showed. Such positions are flexion to the tip of the
little finger, abduction and rotation.

5. Functional design.
In each phalange was built an outline to carry out
with characteristics alike in shape with those in the
human hand, with a final vision of making it capable of
grasp objects with different shapes, and open to the
possibility of adding a material that works as skin,
besides, that can cover the tendons that goes through
the middle of the phalange.
During all the design, a special care was made to
look that every angle; every joint, has the same run to
that found in the human hands, so it was needed to
generate special outlines and pieces.

Figure 10. Positions achieved.

6. Kinematics of the mechanic hand.

Using a simulation in Solid Edge, the angles and
trajectories that the mechanic hand can do are
estimated, such as the distances and limits of
movement.
To corroborate these estimations and using the
homogeneous matrix method for mechanism in space,
the next equations are obtained for the little finger:

Figure 8. Lateral view of a finger, angle measurement

between phalanges.
The medial phalange has a maximum displacement
of 143 degrees, when this occurs, the distal phalange
reaches to displace 58 degrees. In the other side, if this
angle is compared with the reference when the middle
phalange is 100 degrees, a rotation of 63 degrees can
be reached in the distal phalange. The maximum angle
of rotation obtained between the metacarpal and
proximal phalange is 93 degrees.

Tz3[am1].Tz5[Jm1]. Tz4[Jm2]. Tz3[am2]. Tz5[Jm3]. Tz4[Jm4].

Tz3[am3]. Tz4[Jm5]. Tz3[am4]. Tz4[Jm6].Tz3[am5]=Tz1[xm].
Tz2[ym]. Tz3[zm]. Tz4[Tm1]. Tz5[Tm2]
And for the thumb:
Tz6[Jp1].Tz1[ap1]. Tz3[ap2]. Tz5[Jp2]. Tz4[Jp3]. Tz3[ap3].
Tz5[Jp4]. Tz3[ap4]. Tz5[Jp5].r=[xp,yp,zp,1]T
Where:
Tz1= Translation in x axe.
Tz2= Translation in y axe.
Tz3= Translation in z axe.
Tz4= Rotation in x axe.
Tz5= Rotation in y axe.
Tz6= Rotation in z axe.
am1= Constant distances from the base of the structure
to the CMC of the little finger.
am2= Constant distances of the metacarpal of the little
finger.

Figure 9. Use of main flexible arcs in spherical objects of

different diameter.
With figure 9, the two transversal arcs by which the
mechanic hand was design are pointed out, the red
curve represents the carpal arch, and the blue one is the

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am3= Constant distances of the proximal phalange of

the little finger.
am4= Constant distances of the middle phalange of the
little finger.
am5= Constant distances of the distal phalange of the
little finger.
ap1= Constant distances of the thumb from the base of
the structure to the CMC.
ap2= Constant distances of the metacarpal of the thumb.
ap3= Constant distances of the proximal phalange of the
thumb.
ap4= Constant distances of the distal phalange of the
thumb.
Jmi= Degrees of freedom of the Little finger.
Jpi= Degrees of freedom of the thumb.
xm, ym, zm= Coordinates from the inertial base to the
extremity of the distal phalange of the little finger.
xp, yp, zp= Coordinates from the inertial base to the
extremity of the distal phalange of the thumb.
Tmi= Variable rotations.

Figure 12. Simulations of the movements for the fingers

II to IV.
With the four bars mechanism simplified in the
simulations as just one line, the finger represented has
movement from the wrist, and is able to reach positions
that allow the hand to close and open, not just in a fistshape position, but also to open the palm wide.
Finally the trajectories and work space for the
thumb are presented. The wrist is represented as two
lines to continue with the idea of homogeneous matrix.

An image for the inertial base is presented; the

following bases are created using the transformation
matrix described above.

Figure 14. Trajectories for the thumb to different

movements of the joints.
As it can be observed in figure 14, two trajectories of
many are created by changing the values of the degrees
of freedom in the thumb, in the first case; the left one,
all degrees of freedom goes from their minimum value
to their maximum at the same time, and in the right
one, just the degrees of freedom in the base of the
thumb (in the wrist) move from their minimum value,
to their maximum.
And so, changing the degrees of freedom, many
trajectories can be obtained, and the thumb can be
characterized by its movements.

Figure 11. Inertial bases for the thumb and the little
finger.
Afterwards, a trajectory is proposed and the data is
introduced to all degrees of freedom, with the idea to
make the hand to go from a close position in fist-shape,
to a completely open position.
The evaluated results are presented for the little
finger; the graph for the finger II, III, and IV have very
alike shapes to those showed for this finger.

7. Conclusions.
It can be verified in figure 9 that the use of flexible
arcs in this design, allows a better subjection and
bigger work space for different volumes. Likewise, in

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figure 10, they allow the contact between the thumb and

[7] Netter, F.H., Atlas of human anatomy. 4 ed, ed.

Saunders. 2006.

the tip of the little finger.

In the simulations, the positions of the mechanic
hand come to be close enough to those made by the
human hand.
By having a previous study[6], the behavior of the
four bars mechanism was improved. The angle deficit
in the distal phalange is compensated by achieving a
bigger displacement in the middle phalange, to attain
the position of the tip of the finger in the right place.
Due to the base mechanism of the thumb, the
functionality and operation trajectory can be repeated,
giving as a result a wider work space and similar to the
average found in the bibliography[5].
It can be observed too, that the use of bolts in the
joints does not produce a great repercussion by
despising the effect of translation in them.
The solution presented proposes spots and
parameters for measurement for the users hand, so he
can operate the mechanic hand intuitively. The starting
point for a future design of the instrumental glove is
settled.

9. Acknowledgements.
We thank CONACYT for the support and the
scholarship, and PAPIIT for the financing for the
project.
We also thank all the people that gave us advising.

8. References.
[1] Frank Rthling, R.H., Jochen J. Steil, Helge Ritter,
Platform anthropomorphic grasping with the bielefeld
20-DOF shadow and 9-DOF TUM hand. IEEE/RSJ
international conference on intelligent robots and
systems, 2007.
[2] D. W. Zhao, L.J., H. Huang, M. H. Jin, H. G. Cai,
H. Liu, Development of a multi-DOF anthropomorphic
prosthetic hand. IEEE International conference on
robotics and biomimetics, 2006.
[3] Chistian Cipriani, M.c., M. Chiara Carrozza,
Progress towards the development of the smarthand
transradial prosthesis. IEEE 11th international
conference on rehabilitation robotics, 2009.
[4] Skyler A. Dalley, T.E.W., Thomas J. Withrow,
Michael Goldfarb, Design of a multifunctional
anthropomorphic prosthetic hand with extrinsic
actuation. IEEE/ASME transactions on mechatronics,
2009.
[5] Nordin, M., et.al., Basic biomechanics of the
musculoskeletal system. 2nd ed. 1980: LEA &
FEBIGER.
[6] Aguilar Romero, E.F., Lpez Batiz, Germn,
Manipulador Antropomrfico Teleoperado II, in
Departamento de mecnica. 2001, Universidad
Nacional Autnoma de Mxico: Ciudad de Mxico.

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