Design Concept and Kinematic Analysis of a Compliant Anatomical Palm Mechanism for Bio-Inspired Robotic Hand Design

Design Concept and Kinematic Analysis of a Compliant Anatomical Palm Mechanism for Bio-Inspired Robotic Hand Design | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Design Concept and Kinematic Analysis of a Compliant Anatomical Palm Mechanism for Bio-Inspired Robotic Hand Design Ivy Chang, Kok-Meng Lee, Yuyang Liu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5449086/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 10 Feb, 2025 Read the published version in International Journal of Intelligent Robotics and Applications → Version 1 posted 9 You are reading this latest preprint version Abstract This paper explores the often-overlooked importance of the palm in robotic hand design, where traditional approaches emphasize finger dexterity and multi-motor manipulation to achieve diverse degrees of freedom (DOF) for grasping. The palm’s ability to conform to objects while grasping is unique due to its versatility to create different shapes. However, replicating this complex folding, bulging, and contouring of the human palm in a mechanical equivalent presents significant challenges. To address this, the paper introduces the concept of a Compliant Anatomical Palmar Mechanism (CAPM), using a combined experimental and numerical approach to model kinematic characteristics of a hybrid rigid/compliant system. The study analyzes how palm movement can enhance grasping performance capabilities. Using data from human hand experiments and finite element analysis (FEA) simulations, the studies predict how palm folding and bulging affect grasping force distribution. This improved modeling allows for more effective robotic design by utilizing palm functions to achieve a broader force distribution in power grasps. A CAPM prototype, integrated into a robotic hand testbed, has been developed to validate the concept and evaluate its effectiveness in grasping by maintaining a stable grasp of a spherical object under an increasing torsional load. Robotic hand bio-inspired design compliant palm finger opposition thumb design grasp compliant mechanism Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 10 Feb, 2025 Read the published version in International Journal of Intelligent Robotics and Applications → Version 1 posted Editorial decision: Revision requested 26 Nov, 2024 Reviews received at journal 25 Nov, 2024 Reviews received at journal 25 Nov, 2024 Reviewers agreed at journal 17 Nov, 2024 Reviewers agreed at journal 15 Nov, 2024 Reviewers invited by journal 15 Nov, 2024 Editor assigned by journal 14 Nov, 2024 Submission checks completed at journal 13 Nov, 2024 First submitted to journal 13 Nov, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5449086","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":383105219,"identity":"5c15fcf7-a3fe-4394-8d54-a368fd998fe5","order_by":0,"name":"Ivy Chang","email":"","orcid":"","institution":"Georgia Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Ivy","middleName":"","lastName":"Chang","suffix":""},{"id":383105220,"identity":"cc6fcfcb-d29b-4ccf-a6ce-e62380d5ae1f","order_by":1,"name":"Kok-Meng Lee","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABEklEQVRIiWNgGAWjYBACCQY2CIOPgYHxAUyUGYgZGwhpAVLMBnAWsVrYJIjSItnelrrh445aBjb25mNVNyoY7PrnNx/8XMBgI7vhAHYt0jzHjt2ceeY4AxvPsbTbOWcYkmccY0uWnsGQZoxLi5xEettt3rZjQFflmN3ObWNIZjjGY8bMw3A4Ea+WvyAt8u+/Fef+Y0iWP8b/DajlP04t0hJpx24zttUAbeFhY85tYLAzOAZk8DAcwKlFsudY2s3etgM8bDxpxtI5xyQSDI8BGTwGycYzcWiRON5mduNnW50cP/vhh59zamzs5Q4DGTwVdrJ9OLRAwWEemBGJDWDaAK9yEKiDs+wJqh0Fo2AUjIIRBwA0rljjI5ZEyAAAAABJRU5ErkJggg==","orcid":"","institution":"Georgia Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Kok-Meng","middleName":"","lastName":"Lee","suffix":""},{"id":383105223,"identity":"ea0bc166-dbfd-48c7-9ff8-691d4bf94c4c","order_by":2,"name":"Yuyang Liu","email":"","orcid":"","institution":"Georgia Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Yuyang","middleName":"","lastName":"Liu","suffix":""}],"badges":[],"createdAt":"2024-11-13 18:38:13","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-5449086/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5449086/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s41315-024-00415-1","type":"published","date":"2025-02-10T15:57:59+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":76487703,"identity":"d83e9641-16c1-4bcb-ab87-b144df813f28","added_by":"auto","created_at":"2025-02-17 16:11:30","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1892027,"visible":true,"origin":"","legend":"","description":"","filename":"IChangIJIRACAPM20241113kmlee.pdf","url":"https://assets-eu.researchsquare.com/files/rs-5449086/v1_covered_e0a2abd5-e173-4ffe-9dfc-1950563c932f.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Design Concept and Kinematic Analysis of a Compliant Anatomical Palm Mechanism for Bio-Inspired Robotic Hand Design","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"international-journal-of-intelligent-robotics-and-applications","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jira","sideBox":"Learn more about [International Journal of Intelligent Robotics and Applications](https://www.springer.com/journal/41315)","snPcode":"41315","submissionUrl":"https://submission.springernature.com/new-submission/41315/3","title":"International Journal of Intelligent Robotics and Applications","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Robotic hand, bio-inspired design, compliant palm, finger opposition, thumb design, grasp, compliant mechanism","lastPublishedDoi":"10.21203/rs.3.rs-5449086/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5449086/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper explores the often-overlooked importance of the palm in robotic hand design, where traditional approaches emphasize finger dexterity and multi-motor manipulation to achieve diverse degrees of freedom (DOF) for grasping. 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