Blackfingers: an Artificial Hand that Copies Human Hand in Structure, Size, and Functions

The construction of an artificial hand able to reproduce the functions of the human hand has never been of interest in industrial robotics. Now it is a must in humanoid robotics. In the paper we will illustrate the structure of the human hand and propose a choice of materials and actuators that can reproduce it. The design, the complete model and the prototype are also presented. The basic controller for the fingers is illustrated