Design and Implementation of an Anthropomorphic Robotic Hand With Key Kinematic Properties of the Human Hand

Designing an anthropomorphic robotic hand with few actuators while replicating the dexterous motion capabilities of the human hand remains a challenging problem. In this work, a kinematic synergy analysis method is proposed to identify joints with high motion independence and to quantify the synergistic motion characteristics of joints with strong motion dependence. Based on these findings, design principles for intrafinger and interfinger coupling–compliance mechanisms are developed, enabling the mechanical embodiment of joint kinematic synergies within and between fingers. Furthermore, a design principle for anthropomorphic robotic hands that reduces actuator count while retaining diverse motion functions is formulated. This principle is embodied in a 12-actuator, 21-joint prototype named SX-Hand, featuring a flexible thumb and an articulated palm. Experimental evaluations demonstrate that SX-Hand achieves the maximum score in the Kapandji test, performs all 33 grasp types defined in the comprehensive GRASP taxonomy, and executes dexterous in-hand manipulations. The proposed approach provides an effective conceptual and technical route for reproducing rich motion functions with reduced actuation, offering valuable guidance for the development of efficient anthropomorphic robotic hands and other bionic systems.