What question did this study set out to answer?

This research aims to develop a 3D printed robotic hand that mimics human movement with fewer parts for easier assembly.

March 26, 2026Journal of the Robotics Society of Japan0 citationsOpen Access

Research on the Design and Development of a 3D Printed Robot Hand with Skin and Skeleton in One Piece, and Performance Verification Experiments

KMKazuhiro Miyama KKKento Kawaharazuka TSTemma Suzuki

Key Points

This research aims to develop a 3D printed robotic hand that mimics human movement with fewer parts for easier assembly.
Designed a skin-skeleton integrated robotic hand with 15 degrees of freedom.
Constructed the hand mainly as a single part with 12 joints.
Performed performance verification experiments to assess grasping capabilities.
All 16 predefined grasping postures were successfully realized.
The robot hand's design allows for easier assembly compared to traditional multi-part designs.

Abstract

Robot hands that imitate the shape of a human hand have been studied extensively, but they generally have a large number of parts and are not easy to assemble. To address this problem, we proposed a skin-skeleton integrated robotic hand that has 15 degrees of freedom and consists of four parts. The developed robot hand is mostly composed of a single part with 12 joints and can be easily assembled. Experiments confirmed that all of the 16 grasping postures can be realized.

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