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On-line Access: 2022-10-20

Received: 2022-04-18

Revision Accepted: 2022-08-08

Crosschecked: 2022-10-21

Cited: 0

Clicked: 132

Citations:  Bibtex RefMan EndNote GB/T7714


Yong-bin JIN


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Journal of Zhejiang University SCIENCE A 2022 Vol.23 No.10 P.771-782


Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp

Author(s):  Yong-bin JIN, Shao-wen CHENG, Yan-yan YUAN, Hong-tao WANG, Wei YANG

Affiliation(s):  Center for X-Mechanics, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   htw@zju.edu.cn

Key Words:  Anthropomorphic hand, da Vinci’, s mechanism, Twisted string actuator (TSA), Intelligent mechanism, Principal component analysis (PCA)

Yong-bin JIN, Shao-wen CHENG, Yan-yan YUAN, Hong-tao WANG, Wei YANG. Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp[J]. Journal of Zhejiang University Science A, 2022, 23(10): 771-782.

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author="Yong-bin JIN, Shao-wen CHENG, Yan-yan YUAN, Hong-tao WANG, Wei YANG",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp
%A Yong-bin JIN
%A Shao-wen CHENG
%A Yan-yan YUAN
%A Hong-tao WANG
%J Journal of Zhejiang University SCIENCE A
%V 23
%N 10
%P 771-782
%@ 1673-565X
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200216

T1 - Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp
A1 - Yong-bin JIN
A1 - Shao-wen CHENG
A1 - Yan-yan YUAN
A1 - Hong-tao WANG
A1 - Wei YANG
J0 - Journal of Zhejiang University Science A
VL - 23
IS - 10
SP - 771
EP - 782
%@ 1673-565X
Y1 - 2022
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2200216

Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge. Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force, grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci’;s mechanism driven by a flexible twisted string actuator (TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light, flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70% of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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