Advances on the Development of a Robotic Hand with Movable Palm

  • Francisco J. Espinosa-GarcíaEmail author
  • Manuel Arias-Montiel
  • Marco Ceccarelli
  • Esther Lugo-González
  • Giuseppe Carbone
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents the development of a robotic hand with a movable palm configuration. The proposed design was developed as based on requirements that are obtained by some experiences with LARM hand and experiments with human hand. The conceptual design of the robotic hand is composed by a movable palm and one finger and its performance is based on underactuated mechanisms in order to only use one actuator for the palm and finger movements. This novel design pretends to improve the grasping performance of the LARM hand avoiding to increase the number of actuators. An experimental prototype was built in order to validate the robotic hand design and the obtained results show the viability of the underactuated mechanism to exert the grasping forces on different objects.


robotic hand underactuated mechanism movable palm 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Francisco J. Espinosa-García
    • 1
    Email author
  • Manuel Arias-Montiel
    • 2
  • Marco Ceccarelli
    • 3
  • Esther Lugo-González
    • 2
  • Giuseppe Carbone
    • 4
  1. 1.Postgraduate DivisionUniversidad Tecnológica de la MixtecaHuajuapan de LeónMexico
  2. 2.Institute of Electronics and MechatronicsUniversidad Tecnológica de la MixtecaHuajuapan de LeónMexico
  3. 3.LARM2: Laboratory of Robot MechatronicsUniversity of Rome, Tor VergataRomeItaly
  4. 4.Department of Mechanical, Energy and Management EngineeringUniversity of CalabriaCalabriaMexico

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