A Wire-Driven Robotic Hand with Mode-Switchable Planetary Transmission for Dynamic Manipulation

Abstract

Dynamic hand manipulation requires both precise motion control and rapid actuation capability, yet most existing robotic hands are primarily optimized for dexterity and accuracy, often sacrificing speed performance. To address this limitation, this work presents a mode-switchable wire-driven robotic hand incorporating a planetary transmission mechanism capable of continuously varying output speed and torque characteristics. The proposed system operates in two distinct modes: a torque-enhancing mode for stable and precise grasping, and a speed-amplifying mode for agile dynamic motions such as flicking and throwing. A dedicated mechanical switching mechanism enables real-time transition between the two transmission modes according to task requirements. A full prototype of the five-finger robotic hand is currently under fabrication and system integration, and preliminary analytical results demonstrate the feasibility of both precise grasping and enhanced high-speed manipulation capability. These results validate the proposed transmission architecture as a promising solution for robotic hands requiring both dexterous and dynamic manipulation.