What are the joint driving modes of dexterous hands? What are their advantages and disadvantages?

Tendon drive; A prominent feature of this hand is that a thin layer of TPU similar to an airbag is designed at the fingertip of the finger. The thin layer is closed and there are bubbles inside. This ingenious design improves the safety of dexterous hand in grasping operation.

1, connecting rod drive type; Using EMG signals to control hand movements is a highlight of the hand. When the hand movement is controlled by EMG signal, the weak EMG signal will cause the dexterous hand to move slowly and hold the object weakly. However, strong EMG signals can make dexterous hands move quickly, and at the same time produce greater grip strength on objects.

2, joint motor drive type; The hand is equipped with 9 drivers, which can accurately operate and grab common objects. The palms, fingertips and knuckles are all equipped with flexible anti-slip materials, which ensures the reliability of grasping and can avoid damage to objects to the greatest extent. The control element, the adjusting element and the electronic element are all integrated at the wrist joint, so the overall structure is compact and the volume of the dexterous hand is reduced. SVH is powered by 24V power supply, and the communication interface is RS485. The total hand weight is only 1.3kg.

3. Gear transmission type; The biggest feature of this hand is that the assembly of the whole hand does not adopt the traditional mechanical connection method, but adopts the woodworking assembly technology, and the assembly or disassembly of the mechanism can be easily completed without any auxiliary tools.