Design and Control of an anthropomorphic thumb robot prototype

TL;DRAbstract

The complexity of mechatronic systems is barrier for their diffusion. That is why robots have to be anthropomorphic to facilitate interaction with humans. Or, it is not possible to modify every objects in a house so robots must be adapted to the usual human environment. This explains why the importance
\nof anthropomorphic hands is growing. Currently, several models are under research but none are deeply investigating the special role of the thumb.
\nIn this report, a thumb design, based on medical analysis, is proposed. With the help of a thumb surgeon, numerous medical articles dealing with thumb surgery have been merged. Not only the lengths and the forces must be carefully chosen but the stiffness must be adjustable. The tendon displacement, required for a motion under a specifc stiffness, can be calculated as a non linear optimisation problem. The tendon stiffness range can be optimised if a joint stiffness range is provided. An extension of the usual metrics shows that it

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