SkB-Hand: A Skeleton Bionic Hand with Dual-Tendon for General Purpose Robotic Grasping Tasks
Duan-Hong Yang, Dai-Dong Nguyen, Ming-Yang Chuang, Yu-Cheng Kuo, Chung-Hsien Kuo
Abstract
The development of bionic hands is a crucial area robotics research, aiming to achieve human-like dexterity, adaptability, and efficiency in manipulation tasks. This study presents the Skeleton Bionic Hand (SkB-Hand), which features a dual elastic-tendon mechanism for extensor and volar plate in a single finger. The skeleton structure ensures the SkB-Hand is lightweight (< 600g) and low-cost (< 150USD) while maintaining performance in various grasping tasks. We evaluated the SkB-Hand through experiments such as the Kapandji test, GRASP Taxonomy, and dynamic scenarios. Results showed the SkB-Hand scored 7/10 in the Kapandji test and 33/33 in the GRASP Taxonomy test. The hand demonstrated resistance to deformation under external forces while ensuring flexibility. Integrated into the Techman Robot (TM-Robot), the SkB-Hand provide its potential for general robotic grasping tasks in daily life.
BibTeX
@inproceedings{iros2025_skbhandaskeleton,
title = {SkB-Hand: A Skeleton Bionic Hand with Dual-Tendon for General Purpose Robotic Grasping Tasks},
author = {Duan-Hong Yang and Dai-Dong Nguyen and Ming-Yang Chuang and Yu-Cheng Kuo and Chung-Hsien Kuo},
booktitle = {IROS 2025},
year = {2025}
}