Design and implementation of a dexterous anthropomorphic robotic typing (DART) hand

Nicholas Thayer, Shashank Priya

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


This paper focuses on design and implementation of a biomimetic dexterous humanoid hand. Several design rules are proposed to retain human form and functionality in a robotic hand while overcoming the difficultly of actuation within a confined geometry. Size and weight have been optimized in order to achieve human-like performance with the prime objective of typing on a computer keyboard. Each finger has four joints and three degrees of freedom (DOF) while the thumb has an additional degree of freedom necessary for manipulating small objects. The hand consists of 16 servo motors dedicated to finger motion and three motors for wrist motion. A closed-loop kinematic control scheme utilizing the Denavit-Hartenberg convention for spatial joint positioning was implemented. Servo motors housed in the forearm act as an origin for wires to travel to their insertion points in the hand. The dexterity of the DART hand was measured by quantifying functionality and typing speed on a standard keyboard. The typing speed of a single DART hand was found to be 20 wordsmin-1. In comparison, the average human has a typing speed of 33 wordsmin-1 with two hands.

Original languageEnglish (US)
Article number035010
JournalSmart Materials and Structures
Issue number3
StatePublished - Mar 2011

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Civil and Structural Engineering
  • Atomic and Molecular Physics, and Optics
  • General Materials Science
  • Condensed Matter Physics
  • Mechanics of Materials
  • Electrical and Electronic Engineering


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