Dexterous Robot Hand


  Recently, humanoid robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. So manipulation capability is essential for a humanoid robot. And robot hand must possess tactile sensor because of interaction between a humanoid hand and objects can be properly controlled only is suitable sensors are available. 


Dexterous Robot Hand




  This robot hand is manufactured by using a 3D printer and a new mechanism, called Active DIP-PIP(ADP) joint, is applied to this robot hand. The mechanism consists of a pair of moveable pulleys and a springs to generate both linked and adjustable motion. While the set of DIP (Distal-Interphalangeal) and PIP (Proximal-Interphalangeal) joint shows coupled movement in free space, it moves adaptively when it contacts with an object. The torsion springs attached on each joints ensure 1:1 ratio movement while finger is moving freely and produce additional joint torque while grasping an object.


SKKU - Hand IV


This is the new version of finger module which uses BLDC motor, Harmonic Driver. So, it can reduce backlash and make large torque more than last version. Now the position control by using hall sensor, encoder and potentiometer is enable and torque sensor will be included in this module. The first figure shows workspaces of fingers. The green area is the workspace of index finger, blue area is the workspace of middle finger and yellow area is the workspace of thumb. The next figure shows intersection area of fingers’ workspace. Red area is the intersection area between index and thumb workspace. Blue area is the intersection area between middle and thumb workspace. Finally, black area is the intersection area of all fingers’ workspace. 


Finger Workspace [SKKU - Hand IV]


This is workspace of 1 finger. Green area is workspace of Finger tip. If goal position of finger tip is in the green area, It can calculate inverse kinematics and kinematics so fingertips go to goal position. 




- Degree Of Freedom : 13 DOF
- Power : DC 24 V (Motor power) , DC 5 V
- Weight : 840g 


This is an anthropomorphic robot hand called SKKU HAND III. Different from the previous gripper-type robot hands, the thumb is designed as one part of the palm and provides the mobility of the palm. The driving circuits for the SKKU HAND III are embedded in the hand, and each driving circuit communicates with others using CAN protocol. The SKKU HAND III is manufactured and feasibility of the hand is validates through preliminary experiments. 


SKKU - Hand III (Finger Module)


This is anthropomorphic finger module called SKKU Hand III, which includes BLDC motors. SO it is more compact and powerful than former ones. It has 4-DOF. And it can be controlled by using CAN. 


SKKU - Hand II


- Degree Of Freedom : 10 DOF
- Power : DC 24 V (Motor power) , DC 5 V
- Weight : 840g 

This is an anthropomorphic robot hand called SKKU Hand II, which has a miniaturized tactile sensor applicable to the robot hand. Thumb is at an angle opposite to its other fingers, and the thumb and fingers are orthogonal, such that it can performs dexterous grasping and manipulation like the human hand. The hand is similar to the human hand in geometry and size because inessential degree-of-freedom is abbreviated during grasping. All parts were composed of independent modules from each finger to the electric board for control.


SKKU - Hand I


A three fingered robotic hand called SKK Hand I is introduced composed of the modularized robotic fingers. Its hardware and control issues are discussed and preliminary results of experiments are included. The proposed hand will expect to resolve the increasing demand for robotic applications in unstructured environments. 


SKKU - Finger II


This robotic finger makes it possible to mimic the humanlike finger motions except those of the thumb such as flexion-extension and abduction-adduction 


SKKU - Finger I


Robot hands plays important role in practical task. We have developed a robotic finger with a new 2DOF anthropomorphic metacarpal joint mechanism called DAUJ (Double Active Universal Joint). 




  • • 유원석, Fengyi Liu, 박한길, 김민정, 최민아, 구자춘, 문형필, 최혁렬, "인간형 로봇 손의 생체 모방 설계에 관한 연구", 대한기계학회 동역학 및 제어 부문 춘계학술대회 ,2012
  • • 천주영, 채한상, 문형필, 최혁렬, 인간형 다지 다관절 로봇 핸드의설계 및 제어 : SKKU HAND III, (사)제어, 로봇, 시스템 학회, (사)한국로봇학회 합동학술대회, pp.35-38, 2009/12/10-2009/12/11, 한국
  • • Joo-young Chun, Hansang Chae, Byungjune Choi, Segon Roh, Hyungpil Moon, Hyouk Ryeol Choi, Development of Anthropomorphic Robot Hand SKKU hand III, in Proc. Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp.472-475, 2009/10/28-2009/10/31, Korea
  • • 최병준, 이상헌, 강성철, 최혁렬, “촉각센서를 갖는 인간형 로봇손의 개발 : SKKU Hand II” 제어 자동화 시스템공학 논문지, 제12권, 제6호, pp. 594~599, 2006/6, 한국 
  • • 지호준, 이상헌, 최병준, 최혁렬, "유연한 인간형 로봇손의 설계" 대한 기계학회 논문집 A 제30권 제4호, pp. 364~372, 2006/4
  • • Taehun Kang, Hyoukryeol Choi, and Moonsang Kim, “Development of Anthropomorphic Robot Hand SKK Robot Hand I” Int. Journal of Korean Society of Mechanical Engineers, Vol. 17, No. 2, pp. 230~238, 2003/2
  • • 최혁렬, 류성무, "2자유도 인간형 로봇관절의 설계 및 제어” 대한기계학회논문집 A권, 제25권, 제1호, pp. 10~20, 2001/1
  • • 류성무, 백상훈, 최혁렬, “인간형 로봇관절의 개발” 대한기계학회 논문집, 제25권, 제1호, pp. 89~97, 2001/1




  • • ADD(Agency for Defense Development) 
    Design and control of a precision hand manipulater (2007.7 - 2012. 12)
  • • 지식경제부 
    가사지원용 고기능 로봇손 기술개발 (2009.6 ~ 2014.5)
  • • 지식경제부 
    스마트 로봇핸드를 이용한 로봇매니퓰레이션 기술 전문인력양성 사업 (2008.9 ~ 2013.2)




Gi Tae Kang, Hyun Seok Oh, Joon Kyue Seo