Fig. 2: Mechanism design of the VMS hand.
From: An 18-DOF hand integrating force–position multimodal perception using a monocular camera
a Overview of the VMS hand in which the forearm integrating 13 actuation units controls 5 fingers via 13 active tendons. The palm is connected to the forearm by four connecting rods. Motion-coupling tendons on the fingers enable synergistic movement between the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints. b Layout of the 13 active tendons in the palm. c The workflow diagram of the actuation-perception forearm mechanism. d The Schematic of an actuation unit. Motor rotation induces spring deformation \(\delta x\). Since the tendon origin is fixed to Slider-A, \(\delta m\) represents the tendon displacement. A brown arrow indicates the initial distance between Slider-A and slider-b. The plane mirror redirects markers into camera view (\({{\rm{m}}}{'}\) and \({{\rm{M}}}{'}\)). e The abduction (top) and flexion (middle) of the metacarpophalangeal (MCP) joint are controlled by 2 active tendons, and the PIP joint is controlled by 1 active tendon (bottom). f Kinematic parameters (palmar view) and reset structures (dorsal view) of the primary fingers. g The structure of the secondary fingers, which differs from the primary finger in that the MCP joint has no degrees of freedom (DOF) for abduction.
