Design optimization of an underactuated tendon-driven anthropomorphic hand based on grasp quality measures

Abstract For an underactuated anthropomorphic hand, apart from replicating the geometry, biomimicry of human counterpart requires design based on functional biomimesis. Optimization based on grasping capabilities to generate a stable grasp for underactuated anthropomorphic hands has been a recent focus. In this article, we optimize the actuation parameters of the underactuated mechanism based on grasp quality measures. Optimization of the hand design parameters like pulley radii, spring stiffnesses, and pre-load angles was undertaken based upon the grasp robustness metric. A quasi-static model based on a soft synergistic compliant grasp of the underactuated hand is formalized. Numerical simulations based on evolutionary strategies are applied to the grasp model to optimize the underactuated parameters. Finally, validation of the results based on the grasp wrench space is presented. The results show that an anthropomorphic hand with an optimized underactuated mechanism performs better grasps.