MECHANISM AND ANALYSIS OF NOVEL HAND ROBOT

Abstract

Human hand is the most flexible part of human body with over 20 DoFs. It is difficult for a robotic hand to achieve the human-like dexterity. This thesis presents research and development of a robotic hand for robot-assisted microsurgery, including a detailed survey of the current state-of-the-arts. Microsurgery requires both flexibility and stability of hand motions. We are achieving this via a mechanism based on flexible gooseneck hose tube (gooseneck). Gooseneck is flexible and can hold onto a device firmly after bending. Theoretical and experimental analyses of the mechanism have been conducted. Its application in robot-assisted microsurgery has also been investigated.