A Wire-Driven Robotic Hand with Reduced Path Dependency for Dexterous Manipulation

초록

Wire-driven robotic hands are widely used for achieving compact, lightweight, and anthropomorphic designs. However, conventional architectures suffer from path dependency, in which configuration-dependent wire routing causes unintended coupling between joints. This phenomenon degrades motion accuracy, repeatability, and controllability, and makes independent joint actuation within a finger difficult, particularly in multi-joint and bidirectional motion scenarios. This paper presents a wire-driven robotic hand with reduced path dependency based on a joint-centered wire routing architecture. In the proposed design, all actuation wires are routed through the geometric centers of the joints so that joint rotation does not induce changes in effective wire length or transmission characteristics. As a result, mechanical interference between joints is eliminated, enabling independent actuation of multiple finger joints with predictable transmission behavior. A five-fingered robotic hand with 25 degrees of freedom was designed and fabricated to validate the proposed concept. Kinematic modeling and manipulability analysis were conducted to examine the motion characteristics enabled by the proposed structure. Experimental evaluations focusing on single-joint actuation confirmed that joint motions do not affect the wire routing or actuation behavior of other joints. The results demonstrate accurate and repeatable joint motions in both forward and reverse directions, verifying the effectiveness of the proposed joint-centered wire routing approach for reducing path dependency in wire-driven robotic hands.

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