Design of a humanoid hand with 5 fingers driven by two motors

The method to design a compact hand for humanoid robots is explored. The developed humanoid hand has human-like 5 fingers and 14 joints, driven through cable by two motors. The ratios of cable gear are decided based on human's hand configuration for manipulating fundamental tasks such as grasping cups, holding books, shaking hands and making gesture. The size of the developed humanoid hand is similar to the human's, and its mass is 0.39 kg. The effectiveness of our developed humanoid hand was confirmed by experiments.