Anthropomorphic, adaptive robot hand with tendon-driven, multidirectional fingers. The fingers employ an actuation mechanism that can achieve both flexion/extension and adduction/abduction concurrently in the metacarpophalangeal (MCP) joint, using two actuators. The two actuators offer increased power transmission during the execution of precise grasping and dexterous, in-hand manipulation tasks. A design optimization framework utilizes results of hand anthropometry studies to derive key parameters of the actuation design.

In this repository you can find:

• CAD files of a bidirectional finger
• ROS package software for dual actuators operation
• Design optimization framework
• Archive of prototype images
• CAD files of the anthropomorphic robot hand will be uploaded soon

Please open a GitHub issue if you encounter any problem.